Work

A Discrete-Time Least-Squares Adaptive State Tracking Control Scheme With a Mobile-Robot System Study

Year: 2025

Type: article

Abstract: This paper develops an adaptive state tracking control scheme for discrete-time systems, using least-squares algorithms, as the new solution to the long-standing discrete-time adaptive state tracking control problem. The system stability and state tracking properties are proved mathematically. The developed adaptive state tracking control scheme, combined with a newly proposed collision avoidance mechanism, is applied to a multi-robot system to achieve tracking objectives. Simulation results demonstrate its effectiveness in achieving state tracking and collision avoidance.

Source: IEEE Transactions on Automatic Control

DOI: 10.1109/tac.2025.3580032

Authors: Qianhong Zhao, Gang Tao

Institution: University of Virginia

Language: English

Topic: Control Systems and Identification

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W4411336487

FWCI: 1.926

Cites: 21

Cited by: 6

Related to: 10