Charalampos P. Bechlioulis

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A novel robust adaptive controller for multi-input multi-output (MIMO) feedback linearizable nonlinear systems possessing unknown nonlinearities, capable of guaranteeing a prescribed performance, is developed in this paper. By prescribed performance we mean that the tracking error should converge to an arbitrarily small residual set, with convergence rate(More)
We consider the tracking problem of unknown, robustly stabilizable, multi-input multi-output (MIMO), affine in the control, nonlinear systems with guaranteed prescribed performance. By prescribed performance we mean that the tracking error converges to a predefined arbitrarily small residual set, with convergence rate no less than a prespecified value,(More)
A universal controller is designed for cascade systems, involving dynamic uncertainty, unknown nonlinearities, exogenous disturbances and/or time-varying parameters, capable of guaranteeing prescribed performance for the output tracking error, as well as uniformly bounded signals in the closed loop. By prescribed performance we mean that the output tracking(More)
A neuroadaptive control scheme for strict feedback systems is designed, which is capable of achieving prescribed performance guarantees for the output error while keeping all closed-loop signals bounded, despite the presence of unknown system nonlinearities and external disturbances. The aforementioned properties are induced without resorting to a special(More)
In this paper, we address unresolved issues in robot force/position tracking including the concurrent satisfaction of contact maintenance, lack of overshoot, desired speed of response, as well as accuracy level. The control objective is satisfied under uncertainties in the force deformation model and disturbances acting at the joints. The unknown(More)
In this paper, we propose a robust model free control scheme of minimal complexity (it is a static scheme involving very few and simple calculations to output the control signal) for robotic manipulators, capable of achieving prescribed transient and steady state performance. No information regarding the robot dynamic model is employed in the design(More)
A control law is proposed that achieves predefined performance indices regarding the speed of response, the steady state and the allowed overshoot of the robot force/position tracking errors, ensuring no loss of contact of the robot end effector. The controller incorporates a transformed error, which includes the performance indices. The control objective(More)
We describe the design and implementation of an on-line identification scheme for Autonomous Underwater Vehicles (AUVs). The proposed method estimates the dynamic parameters of the vehicle based on a global derivative-free optimization algorithm. It is not sensitive to initial conditions, unlike other on-line identification schemes, and does not depend on(More)