@inproceedings{07fd22910d7e42adb4a162bcb5450f79,
title = "Design of a Data-Driven Adaptive Controller Based on FF-ITDL for High-Order Fully Actuated Systems",
abstract = "This paper presents a novel data-driven controller for unknown nonlinear high-order fully actuated systems (HOFASs). The proposed approach leverages a full-form incremental triangular dynamic linearization (FF-ITDL) model with time-varying parameters, which effectively addresses system uncertainties and nonlinearities. The convergence and closed-loop stability of the overall control scheme are rigorously established using the contraction mapping principle. The numerical simulation results demonstrate the superior performance and robustness of the proposed controller, highlighting its potential for practical applications in advanced engineering systems.",
keywords = "FF-ITDL, data-driven, high-order fully actuated systems",
author = "Yonghe Fu and Zhe Guan and Hao Yu and Changchun Hua",
note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025 ; Conference date: 04-07-2025 Through 06-07-2025",
year = "2025",
doi = "10.1109/FASTA65681.2025.11138092",
language = "English",
series = "Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1880--1885",
booktitle = "Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025",
address = "United States",
}