Preview Tracking Control for Quasi-One-Sided Lipschitz Nonlinear Systems

2021 ◽  
Author(s):  
Xiao Yu
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
Lipschitz Nonlinear Systems

Output tracking control with preview action for a class of continuous-time Lipschitz nonlinear systems and its applications

2020 ◽  
Vol 26 (21-22) ◽  
pp. 2081-2091 ◽  
Author(s):  
Xiao Yu ◽  
Fucheng Liao
Keyword(s):  
Nonlinear Systems ◽  
Continuous Time ◽  
Tracking Control ◽  
State Feedback ◽  
State Feedback Control ◽  
Control Action ◽  
Control Technique ◽  
Integral Control ◽  
Lipschitz Nonlinear Systems ◽  
Reference Knowledge

This article presents a novel tracking control technique with preview action for a class of continuous-time Lipschitz nonlinear systems. First, by using the differentiation approach, the considered Lipschitz nonlinear system is formally transformed into a quasi-linear parameter varying system. Then, with the aid of the lifting method along with some special mathematical manipulations, an augmented error system with the known future reference knowledge is successfully constructed. The tracking problem is, thereby, reduced into a standard H∞ control problem. To guarantee that the closed-loop system remains asymptotically stable and satisfies acceptable H∞ performance, a suitable state feedback controller is established through testing the feasibility of given linear matrix inequality. Based on this, an innovative tracking control law composed of state feedback control action, integral control action, and preview action of the reference signal is proposed for the first time. Simulation results demonstrate that the suggested controller leads to the superior improvement on the tracking performance than the existing control scheme.

scholarly journals Observer-based trajectory tracking control with preview action for a class of discrete-time Lipschitz nonlinear systems and its applications

2020 ◽  
Vol 12 (7) ◽  
pp. 168781402092265
Author(s):  
Xiao Yu ◽  
Fucheng Liao
Keyword(s):  
Nonlinear Systems ◽  
Discrete Time ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
State Feedback ◽  
Feedback Controller ◽  
Matrix Inequality ◽  
State Feedback Controller ◽  
Lipschitz Nonlinear Systems ◽  
Reference Knowledge

In this article, the observer-based preview tracking control problem is investigated for a class of discrete-time Lipschitz nonlinear systems. To convert the observer-based trajectory tracking problem into a regulation problem, the classical difference technique is used to construct an augmented error system containing tracking error signal and previewable reference knowledge. Then, a state feedback controller with specific structures is taken into consideration. Sufficient design condition is established, based on the Lyapunov function approach, to guarantee the asymptotic stability of the closed-loop system. By means of some special mathematical derivations, the bilinear matrix inequality condition is successfully transformed into a tractable linear matrix inequality. Meanwhile, the gains of both observer and tracking controller can be computed simultaneously only in one step. As for the original system, the developed tracking control law is composed of an integrator, an observer-based state feedback controller, and a preview action term related to the reference signal. Finally, two numerical examples are provided to demonstrate the effectiveness of the theoretical method.

New results on observer-based robust preview tracking control for Lipschitz nonlinear systems

2020 ◽  
pp. 107754632095365
Author(s):  
Xiao Yu ◽  
Fucheng Liao ◽  
Li Li
Keyword(s):  
Nonlinear Systems ◽  
Linear Matrix Inequality ◽  
Tracking Control ◽  
Reference Signal ◽  
State Feedback Control ◽  
Control Action ◽  
Linear Matrix ◽  
Matrix Inequality ◽  
Integral Control ◽  
Lipschitz Nonlinear Systems

In this article, the observer-based robust preview tracking control problem is revisited for discrete-time Lipschitz nonlinear systems. The proposed observer-based preview control scheme is composed of the integral control action, the observer-based state feedback control action, and the preview feedforward action of the reference signal. Sufficient design condition of controller and observer gains, which are able to ensure the simultaneously convergence of both the estimation error and the tracking error toward zero, is established in terms of linear matrix inequality by applying the Lyapunov function approach and several mathematical techniques. Compared with the existing result, the system model is more general, which could describe a larger range of practical processes. The observer-based preview controller design is simplified by computing the gain matrices of both observer and tracking controller simultaneously by only one-step linear matrix inequality procedure. Robustness against external disturbance is analyzed via the H∞ performance criterion to attenuate its effect on the performance signal. Finally, two numerical examples are provided to demonstrate the effectiveness of the suggested controller.

Adaptive neural tracking control for switched nonlinear systems with state quantization

2021 ◽  
Author(s):  
Danping Zeng ◽  
Zhi Liu ◽  
C.L.Philip Chen ◽  
Yun Zhang
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
Switched Nonlinear Systems

Tracking control of state constrained fractional order nonlinear systems

2021 ◽  
Author(s):  
Changhui Wang ◽  
Xiao Li ◽  
Limin Cui ◽  
Yantao Wang ◽  
Mei Liang ◽  
...  
Keyword(s):  
Nonlinear Systems ◽  
Fractional Order ◽  
Tracking Control
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