Introduction
Objectives
Work-plan
Research Team
Publications
Multimedia
Dissemination

The research project was supported by the Hellenic Foundation
for Research and Innovation (H.F.R.I.) under the “2nd Call for
H.F.R.I. Research Projects to support Post-Doctoral Researchers” (Project Number: 81937370).

Journal Papers

  1. P. S. Trakas, C. P. Bechlioulis, “Robust Adaptive Prescribed Performance Control for Unknown Nonlinear Systems With Input Amplitude and Rate Constraints,” in IEEE Control Systems Letters, vol. 7, pp. 1801-1806, 2023, doi: 10.1109/LCSYS.2023.3281346.
  2. P. S. Trakas, C. P. Bechlioulis, “Robust Trajectory Tracking Control for Constrained Small Fixed-Wing Aerial Vehicles with Adaptive Prescribed Performance”, MDPI Applied Sciences, 2023, 13, 7718; https://doi.org/10.3390/s23010221.
  3. P.S. Trakas, A. Tantoulas, and C. P. Bechlioulis. 2023. “A Reference Governor with Adaptive Performance for Quadrotors under Safety Constraints”, Machines 2023, 11, 984; https://doi.org/10.3390/machines11110984.
  4. Vlachos, C.; Malli, I.; Bechlioulis, C.P.; Kyriakopoulos, K.J. Inducing Optimality in Prescribed Performance Control for Uncertain Euler–Lagrange Systems. Appl. Sci. 2023, 13, 11923; https://doi.org/10.3390/app132111923.
  5. Trakas, P.S., Tantoulas, A.; Bechlioulis, C.P. Formation Control of Nonlinear Multi-Agent Systems with Nested Input Saturation. Appl. Sci. 2024, 14, 213; https://doi.org/10.3390/app14010213
  6. P.S. Trakas, C.P. Bechlioulis, “Adaptive Performance Control for Input-Constrained Nonlinear MIMO Systems,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 54, no. 12, pp. 7733-7745, Dec. 2024. doi:10.1109/TSMC.2024.3462728.
  7. Vlachos, C.; Tolis, F.; Karras, G.C.; Bechlioulis, C.P. Neural Network Iterative Learning for SISO Non-Affine Control Systems. Electronics 2024, 13, 1473. https://doi.org/10.3390/electronics13081473
  8. Tolis, F.C.; Trakas, P.S.; Blounas, T.-F.; Verginis, C.K.; Bechlioulis, C.P. Learning to Execute Timed-Temporal-Logic Navigation Tasks under Input Constraints in Obstacle-Cluttered Environments. Robotics 2024, 13, 65. https://doi.org/10.3390/robotics13050065
  9. Anogiatis, S.; Trakas, P.S.; Bechlioulis, C.P. Motion Coordination of Multiple Autonomous Mobile Robots under Hard and Soft Constraints. Electronics 2024, 13, 2128. https://doi.org/10.3390/electronics13112128
  10. Trakas, P.S.; Anogiatis, S.I.; Bechlioulis, C.P. Trajectory Tracking with Obstacle Avoidance for Nonholonomic Mobile Robots with Diamond-Shaped Velocity Constraints and Output Performance Specifications. Sensors 2024, 24, 4636. https://doi.org/10.3390/s24144636
  11. P.S. Trakas, V. Modugno, D. Kanoulas, C.P. Bechlioulis, “Input-Output Constrained Adaptive Cruise Control,” IEEE Transactions on Control Systems Technology, 10.1109/TCST.2025.3573671.
  12. P.S. Trakas, C.P. Bechlioulis, “Output Feedback Adaptive Performance Control,” IEEE Transactions on Automatic Control, (under review).
  13. T. Tao, C.P. Bechlioulis, D.V. Dimarogonas, “Distributed Adaptive Prescribed Performance Control for Interconnected Euler-Lagrange Systems under Input Constraints,” IEEE Transactions on Control of Network Systems, DOI: 10.1109/TCNS.2025.3600858.
  14. G.C. Konstantopoulos, P.C. Papageorgiou, C.P. Bechlioulis, “Bounded Integral Control for Uncertain ISS Systems with Convex Input Constraints,” Control Engineering Practice, vol. 164, 106448, 2025, DOI: https://doi.org/10.1016/j.conengprac.2025.106448
  15. F. Mehdifar, L. Lindemann, C.P. Bechlioulis, D.V. Dimarogonas, “Low-Complexity Control for a Class of Uncertain MIMO Nonlinear Systems under Generalized Time-Varying Output Constraints,” IEEE Transactions on Automatic Control, DOI: 10.1109/TAC.2024.3524276
  16. A.K. Gkesoulis, C.P. Bechlioulis, “A Low-Complexity Adaptive Performance Control Scheme for Unknown Nonlinear Systems Subject to Input Saturation,” IEEE Control Systems Letters, DOI: 10.1109/LCSYS.2025.3597302.

Conference Papers

  1. P. S. Trakas, C. P. Bechlioulis, “Approximation-free Adaptive Prescribed Performance Control for Unknown SISO Nonlinear Systems with Input Saturation”, in 2022 IEEE Conference on Decision and Control, Cancun, Mexico, Dec 6 – 9, 2022; doi: 10.1109/CDC51059.2022.9993286.
  2. S. Tzeranis, P. S. Trakas, X. Papageorgiou, K. J. Kyriakopoulos and C. P. Bechlioulis, “Robust Prescribed Performance Control and Adaptive Learning for the Longitudinal Dynamics of Fixed-Wing UAVs”, in 2022 International Conference on Systems and Control (ICSC), Marseille, France, Nov 24 – 25, 2022; pp. 391-396, doi: 10.1109/ICSC57768.2022.9993866.
  3. A. Samanis, P. S. Trakas, X. Papageorgiou, K. J. Kyriakopoulos and C. P. Bechlioulis, “Learning Unknown Lagrange Dynamical Systems with Guaranteed Persistency of Excitation”, in 2022 International Conference on Systems and Control (ICSC), Marseille, France, Nov 24 – 25, 2022; doi: 10.1109/ICSC57768.2022.9993912.
  4. P.S. Trakas, C. P. Bechlioulis, “Robust Adaptive Prescribed Performance Control for Unknown Nonlinear Systems with Input Amplitude and Rate Constraints”, in 2023 IEEE Conference on Decision and Control, Singapore, Dec 13 – 15, 2023.
  5. I. Malli, C. Vlachos, C. P. Bechlioulis, K. J. Kyriakopoulos, “Optimal Prescribed Performance Control for Euler-Lagrange Systems,” in 2023 International Conference on Systems and Control, Sousse, Tunisia, Dec 18 – 20, 2023.
  6. C. Vlachos, F. Tolis, C. P. Bechlioulis, “Neural Network-Based Iterative Learning for Uncertain Non-Affine Dynamical Systems,” in 2023 International Conference on Systems and Control, Sousse, Tunisia, Dec 18 – 20, 2023.
  7. P.S. Trakas, C. Vlachos, C.P. Bechlioulis, “Output Feedback Prescribed Performance Control for Euler-Lagrange Systems: Application to Robotic Manipulators,” to appear in the 12th International Conference on Systems and Control (ICSC), Batna, Algeria, 2024.
  8. P.S. Trakas, C.K. Verginis, C.P. Bechlioulis, “On Output-Feedback Control of Unknown Nonlinear Systems via Prescribed Performance Observers,” to appear in the American Control Conference (ACC), Denver, CO, 2025.
  9. A. Tantoulas, C. Vlachos, D. Kotsinis, P.S. Trakas, C.P. Bechlioulis, “Target Tracking Control with Obstacle Avoidance for Quadrotors under Actuation and Performance Constraints,” to appear in the 2025 European Control Conference (ECC), Thessaloniki, Greece, 2025.
  10. Athanasios Gkesoulis, C.P. Bechlioulis, “Distributed Prescribed Performance Control for Strict-Feedback Multi-Agent Systems with Input Constraints ,” to appear in the 2025 European Control Conference (ECC), Thessaloniki, Greece, 2025.
  11. P.S. Trakas, A.D. Ntagkas, K.I. Chatzilygeroudis, C.P. Bechlioulis, “On the Adaptive Performance Control of Robot Manipulators,” to appear in the 2025 European Control Conference (ECC), Thessaloniki, Greece, 2025.
  12. P. Rousseas, F. Panetsos, C. Vlachos, G.C. Karras, C.P. Bechlioulis, et al., “Frontier-Based Exploration using Harmonic Transformations,” 33rd Mediterranean Conference on Control and Automation (MED), Limassol, Cyprus, pp. 168–173, 2025.