@article{MTMT:34439418,
	title = {Fractional order inspired iterative adaptive control},
	url = {https://m2.mtmt.hu/api/publication/34439418},
	author = {Varga, Bence and Tar, József and Horváth, Richárd},
	doi = {10.1017/S0263574723001595},
	journal-iso = {ROBOTICA},
	journal = {ROBOTICA},
	volume = {42},
	unique-id = {34439418},
	issn = {0263-5747},
	abstract = {Although several studies have revealed that fractional order controllers usually outperform conventional integer-order control solutions, fractional order controllers are not yet widely applied in industrial applications due to their complex mathematical background. In this paper, further improvements of a simple weighted sum feedback design are introduced that imitates the behavior of a fractional order controller but is free from its various formal restrictions. The proposed control solution has the main characteristics of a fractional order controller, such as finite memory length, excellent transient response with no overshoot and robust behavior, but it is placed into a much simpler mathematical framework. In the current paper, a simple derivative term was incorporated in the design which made the controller’s output more stable by completely eliminating output chattering. The proposed control method was developed for a general second-order system. It was tested in a fixed point iteration-based adaptive control scenario, through simulations using a robotic example and on experimental basis as well, utilizing a simple one-degree-of-freedom electromechanical system. The presented experiments are the first systematic investigations of the fixed point iteration-based adaptive control method.},
	year = {2024},
	eissn = {1469-8668},
	pages = {482-509},
	orcid-numbers = {Tar, József/0000-0002-5476-401X}
}

@inproceedings{MTMT:34430522,
	title = {Application of Abstract Rotations in Data Driven Modeling Supported by Fixed Point Iteration-based Adaptive Control},
	url = {https://m2.mtmt.hu/api/publication/34430522},
	author = {Atinga, Awudu and Tar, József},
	booktitle = {2023 European Control Conference (ECC)},
	doi = {10.23919/ECC57647.2023.10178172},
	unique-id = {34430522},
	year = {2023},
	orcid-numbers = {Tar, József/0000-0002-5476-401X}
}

@article{MTMT:33905367,
	title = {Tackling Modeling and Kinematic Inconsistencies by Fixed Point Iteration-Based Adaptive Control},
	url = {https://m2.mtmt.hu/api/publication/33905367},
	author = {Atinga, Awudu and Tar, József},
	doi = {10.3390/machines11060585},
	journal-iso = {MACHINES},
	journal = {MACHINES},
	volume = {11},
	unique-id = {33905367},
	abstract = {The Fixed Point Iteration-based Adaptive Control design methodology is an alternative to the Lyapunov function-based technology. It contains higher-order feedback terms than the standard resolved acceleration rate control. This design approach strictly separates the kinematic and dynamic issues. At first, a purely kinematic prescription is formulated for driving the components of the tracking error to zero. Then an available approximate dynamic model is used to calculate the approximated necessary control forces. Before exerting on the controlled system, these forces are adaptively deformed in order to precisely obtain the prescribed kinematic behavior. The necessary deformation is iteratively found by the use of a contractive map that results in a sequence that converges to the unique fixed point of this map. In the case of underactuated systems, when the relative order of the control task also increases, the highest-order time-derivative depends on the lower-order ones according to the dynamic model of the system. This makes it impossible to realize the arbitrarily constructed kinematic design. In the paper, a resolution to this discrepancy is proposed. The method is demonstrated using two non-linear paradigms, a three-degree-of-freedom robot arm, and a two-degree-of-freedom system, i.e., two coupled non-linear springs. The operation of the method was investigated via simulations made by the use of Julia language and simple sequential programs. It was found that the suggested solution could be considered as a new variant of the fixed point iteration-based model reference adaptive control that is applicable for underactuated systems even if the relative order of the task is increased.},
	year = {2023},
	eissn = {2075-1702},
	pages = {585-614},
	orcid-numbers = {Tar, József/0000-0002-5476-401X}
}

@inproceedings{MTMT:33862078,
	title = {Adaptive Backstepping Control Design for Nonlinear System},
	url = {https://m2.mtmt.hu/api/publication/33862078},
	author = {Mohammad, Merei and Tar, József},
	booktitle = {IEEE 17th International Symposium on Applied Computational Intelligence and Informatics SACI 2023 : Proceedings},
	doi = {10.1109/SACI58269.2023.10158606},
	unique-id = {33862078},
	year = {2023},
	pages = {147-152},
	orcid-numbers = {Tar, József/0000-0002-5476-401X}
}

@{MTMT:33697961,
	title = {Fixpont transzformáció alapú adaptív szabályozások implementációjának gyakorlati kérdései és kísérleti vizsgálata},
	url = {https://m2.mtmt.hu/api/publication/33697961},
	author = {Varga, Árpád and Tar, József and Eigner, György},
	booktitle = {KVK PhD Workshop Minikonferencia : Absztrakt kötet},
	unique-id = {33697961},
	year = {2023},
	pages = {22-23},
	orcid-numbers = {Tar, József/0000-0002-5476-401X}
}

@inproceedings{MTMT:34719282,
	title = {Fixed Point Iteration-based Adaptive Control with Output Filtering},
	url = {https://m2.mtmt.hu/api/publication/34719282},
	author = {Varga, Bence and Tar, József and Horváth, Richárd},
	booktitle = {SISY 2023 IEEE 21st International Symposium on Intelligent Systems and Informatics},
	doi = {10.1109/SISY60376.2023.10417912},
	unique-id = {34719282},
	year = {2023},
	pages = {000509-000514},
	orcid-numbers = {Tar, József/0000-0002-5476-401X}
}

@inproceedings{MTMT:33947532,
	title = {Fixed Point Iteration-Based Adaptive Control Improved with Parameter Identification},
	url = {https://m2.mtmt.hu/api/publication/33947532},
	author = {Varga, Bence and Tar, József and Horváth, Richárd},
	booktitle = {Advances in Service and Industrial Robotics},
	doi = {10.1007/978-3-031-32606-6_45},
	unique-id = {33947532},
	year = {2023},
	pages = {383-390},
	orcid-numbers = {Tar, József/0000-0002-5476-401X}
}

@article{MTMT:33548417,
	title = {Application of Heavy and Underestimated Dynamic Models in Adaptive Receding Horizon Control Without Constraints},
	url = {https://m2.mtmt.hu/api/publication/33548417},
	author = {Atinga, Awudu and Tar, József},
	doi = {10.52846/stccj.2022.2.2.36},
	journal-iso = {SYST THEORY CONTROL COMP J},
	journal = {SYSTEM THEORY CONTROL AND COMPUTING JOURNAL},
	volume = {2},
	unique-id = {33548417},
	issn = {2668-2966},
	abstract = {In the heuristic “Adaptive Receding Horizon Controller” (ARHC) the available dynamic model of the controlled system usually is placed in the role of a constraint under which various cost functions can be minimized over a horizon. A possible secure design can be making calculations for a “heavy dynamic model” that may produce high dynamical burden that is efficiently penalized by the cost functions and instead of the original nominal trajectory results a “deformed” one that can be realized by the controlled system of “less heavy dynamics”. In the lack of accurate system model a fixed point iterationbased adaptive approach is suggested for the precise realization of this deformed trajectory. To reduce the computational burden of the control the usual approach in which the dynamic model is considered as constraint and Lagrange-multipliers are introduced as co-state variables is evaded. The heavy dynamic model is directly built in the cost and the computationally greedy Reduced Gradient Algorithm is replaced by a transition between the simple and fast Newton-Raphson and the slower Gradient Descent algorithms (GDA). In the paper simulation examples are presented for two dynamically coupled van der Pol oscillators as a strongly nonlinear system. The comparative use of simple nondifferentiable and differentiable cost functions is considered, too.},
	year = {2022},
	eissn = {2810-4099},
	pages = {1-8},
	orcid-numbers = {Tar, József/0000-0002-5476-401X}
}

@inproceedings{MTMT:33261052,
	title = {On the Simulation of Lower Order Control Strategies for Higher Order Systems},
	url = {https://m2.mtmt.hu/api/publication/33261052},
	author = {Atinga, Awudu and Bitó, János and Tar, József},
	booktitle = {IEEE Joint 22nd International Symposium on COMPUTATIONAL INTELLIGENCE and INFORMATICS and 8th International Conference on Recent Achievements in Mechatronics, Automation, Computer Science and Robotics (CINTI-MACRo 2022)},
	doi = {10.1109/CINTI-MACRo57952.2022.10029508},
	unique-id = {33261052},
	year = {2022},
	pages = {119-124},
	orcid-numbers = {Tar, József/0000-0002-5476-401X}
}

@inproceedings{MTMT:33062048,
	title = {Application of Abstract Rotations for Forecasting the Signals of Nonlinear Dynamic Systems},
	url = {https://m2.mtmt.hu/api/publication/33062048},
	author = {Atinga, Awudu and Várkonyiné Kóczy, Annamária and Tar, József},
	booktitle = {IEEE 10th Jubilee International Conference on Computational Cybernetics and Cyber-Medical Systems ICCC 2022},
	doi = {10.1109/ICCC202255925.2022.9922881},
	unique-id = {33062048},
	year = {2022},
	pages = {389-394},
	orcid-numbers = {Várkonyiné Kóczy, Annamária/0000-0002-6932-8608; Tar, József/0000-0002-5476-401X}
}