Continuous-Time Output Feedback Adaptive Control for Stabilization and Tracking with Experimental Results

2025/06/06 by Mohammad Mirtaba, Ankit Goel, Mirtaba, Mohammad +1
Computer Science · Engineering · #Adaptive Control of Nonlinear Systems #Adaptive Dynamic Programming Control #Advanced Adaptive Filtering Techniques #FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.2506.08042

openalex publication_date 2025/06/06 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

This paper presents a continuous-time output feedback adaptive control technique for stabilization and tracking control problems. The adaptive controller is motivated by the classical discrete-time retrospective cost adaptive control algorithm. The particle swarm optimization framework automates the adaptive algorithm's hyper-parameter tuning. The proposed controller is numerically validated in the tracking problems of a double integrator and a bicopter system and is experimentally validated in an attitude stabilization problem. Numerical and experimental results show that the proposed controller is an effective technique for model-free output feedback control.

Citations

• Adaptive Backstepping Control of a Bicopter in Pure Feedback Form with Dynamic Extension
• Experimental Implementation of an Adaptive Digital Autopilot
• Design and Analysis of a Novel L₁ Adaptive Control Architecture with Guaranteed Transient Performance

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• Composite Adaptive Control for Anti-Unwinding Attitude Maneuvers: An Exponential Stability Result Without Persistent Excitation
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• Adaptive Backstepping Control of a Bicopter in Pure Feedback Form with Dynamic Extension