IEEE Open Journal of Control Systems

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Early Access Articles

Early Access articles are intended to help authors get published as quickly as possible. Early Access articles are accepted and peer-reviewed, but may not be fully edited or assigned to a publication issue or volume. All Early Access articles are fully citable as soon as they appear in IEEE Xplore.

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Teng-Hu Cheng(1)
Shubhendu Bhasin(1)
Ashwin P. Dani(1)
Chi-An Lee(1)
Department of Mechanical Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan(1)
Electrical and Computer Engineering, University of Connecticut Storrs, CT, USA(1)
Electricsal Engineering, Indian Institute of Technology Delhi, New Delhi, India(1)

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Adaptive Actor-Critic Based Optimal Regulation for Drift-free Nonlinear Systems

Ashwin P. Dani;Shubhendu Bhasin

Publication Year: 2025,Page(s):1 - 14

In this paper, a continuous-time adaptive actor-critic reinforcement learning (RL) controller is developed for drift-free uncertain nonlinear systems. Practical examples of such systems are imagebased visual servoing (IBVS) and wheeled mobile robots (WMR), where the system dynamics include a parametric uncertainty in the control effectiveness matrix with no drift term. The uncertainty in the input...Show More

Adaptive Actor-Critic Based Optimal Regulation for Drift-free Nonlinear Systems

Ashwin P. Dani;Shubhendu Bhasin

IEEE Open Journal of Control Systems

Year: 2025, ( Early Access )

Concurrent Learning for Cooperative UAV Transportation of Unknown Payloads

Chi-An Lee;Teng-Hu Cheng

Publication Year: 2024,Page(s):1 - 12

In this work, the transportation problem is addressed by directly attaching the payload to a team of unmanned aerial vehicles (UAVs). The proposed flight controller for cooperative transportation offers a solution by eliminating the need for prior knowledge of payload details, such as the center of gravity (CoG), mass, and moment of inertia (MoI). Typically, the formation for transporting the payl...Show More