scholarly journals Finite-Time Observer-Based Adaptive Control of Switched System with Unknown Backlash-Like Hysteresis

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-14
Author(s):  
Guofa Sun ◽  
Yaming Xu
Keyword(s):  
Finite Time ◽  
Tracking Error ◽  
Small Region ◽  
Time Interval ◽  
Feedback Form ◽  
Performance Function ◽  
Observer Error ◽  
Output Tracking ◽  
Theoretical Finding ◽  
Feedback Neural Network

This work investigates a finite-time observer problem for a class of uncertain switched nonlinear systems in strict-feedback form, preceded by unknown hysteresis. By using a finite-time performance function, a finite-time switched state observer (FTSO) is derived using radial basis function neural networks (RBFNNs) to estimate the unmeasured states. An adaptive feedback neural network tracking control is derived based on the backstepping technique, which guarantees that all the signals of the closed-loop system are bounded, the output tracking error converges to zero, and the observer error converges to a prescribed arbitrarily small region within a finite-time interval. In addition, two simulation studies and an experiment test are provided to verify the feasibility and effectiveness of the theoretical finding in this study.

Robust Control for a Class of Nonlinear Systems Based on Backstepping

2011 ◽  
Vol 50-51 ◽  
pp. 110-114
Author(s):  
Nai Bao He ◽  
Qian Gao
Keyword(s):  
Robust Control ◽  
Tracking Error ◽  
Small Neighborhood ◽  
Control Law ◽  
Closed Loop System ◽  
Unknown Parameters ◽  
Feedback Form ◽  
Output Tracking ◽  
Adaptive Parameter ◽  
Adaptive Parameter Control

Based on coordinate transform, the paper deduced the principle with which Chua’s chaotic system can be translated into the so-called general strict-feedback form. Combining the backstepping method with robust control technology, an adaptive parameter control law is developed and thus the output tracking is successfully accomplished for the system with unknown parameters and dynamic uncertainties. It is proved that all states of the closed-loop system are globally uniformly　ultimately bounded, and lead the system tracking error to a small neighborhood. Finally simulation results are provided to show the effectiveness of the proposed approach.

scholarly journals Finite-Time Performance Guaranteed Event-Triggered Adaptive  Control for  Nonlinear Systems with Unknown Control Direction

2021 ◽  
Author(s):  
Min Wang ◽  
Lixue Wang
Keyword(s):  
Nonlinear Systems ◽  
Finite Time ◽  
Tracking Error ◽  
Tracking Performance ◽  
Performance Function ◽  
Time Performance ◽  
Unknown Control ◽  
Unknown Control Direction ◽  
Control Direction ◽  
Event Triggered

Abstract This paper studies the issue of finite-time performance guaranteed event-triggered (ET) adaptive neural tracking control for strict-feedback nonlinear systems with unknown control direction. A novel finite-time performance function is first constructed to describe the prescribed tracking performance, and then a new lemma is given to show the differentiability and boundedness for the performance function, which is important for the verification of the closed-loop stability. Furthermore, with the help of the error transformation technique, the origin constrained tracking error is transformed into an equivalent unconstrained one. By utilizing the first-order sliding mode differentiator, the issue of ``explosion of complexity'' caused by the backstepping design is adequately addressed. Subsequently, an ingenious adaptive updated law is given to co-design the controller and the ET mechanism by the combination of the Nussbaum-type function, thus effectively handling the influences of the measurement error resulted from the ET mechanism and the challenge of the controller design caused by the unknown control direction. The presented event-triggered control scheme can not only guarantee the prescribed tracking performance, but also alleviate the communication burden simultaneously. Finally, numerical and practical examples are provided to demonstrate the validity of the proposed control strategy.

scholarly journals Neural network adaptive command filtered control of robotic manipulators with input saturation

2019 ◽  
Vol 16 (6) ◽  
pp. 172988141989477
Author(s):  
Lin Wang ◽  
Chunzhi Yang
Keyword(s):  
Neural Network ◽  
Finite Time ◽  
Tracking Error ◽  
Input Saturation ◽  
Robotic Manipulators ◽  
Small Region ◽  
Network Control ◽  
External Disturbances ◽  
Time Control ◽  
The Neural Network

This paper investigates finite-time control of uncertain robotic manipulators with external disturbances by means of neural network control and backstepping technique. To solve the “explosion of terms” in traditional backstepping control, a second-order command filter is designed, and the virtual input and its first-order derivative can be obtained accurately in a finite time. The parameters of the neural network are updated by using the tracking error signals. The proposed controller can guarantee that the tracking error converges to a small region of the origin in some finite time. Finally, we give a simulation study to show the effectiveness of the proposed method.

scholarly journals Adaptive Fuzzy Fast Finite-Time Tracking Control for Nonlinear Systems in Pure-Feedback Form with Unknown Disturbance

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Ke Xu ◽  
Huanqing Wang ◽  
Xiaoping Liu ◽  
Ming Chen
Keyword(s):  
Nonlinear Systems ◽  
Finite Time ◽  
Tracking Control ◽  
Tracking Error ◽  
Adaptive Fuzzy Control ◽  
Small Neighborhood ◽  
Mean Value Theorem ◽  
Feedback Form ◽  
Adaptive Fuzzy ◽  
Unknown Disturbance

In this paper, based on the fast finite-time stability theorem, an adaptive fuzzy control problem is considered for a class of nonlinear systems in pure-feedback form with unknown disturbance. In the controller design process, the mean value theorem is applied to address the nonaffine structure of the pure-feedback plant, the universal approximation capability of the fuzzy logic system (FLS) is utilized to compensate the unknown uncertainties, and the adaptive backstepping technique is used to design the controller model. Combined with the selection of the appropriate Lyapunov function at each step, a fuzzy-based adaptive tracking control scheme is proposed, which ensures that all signals in the closed-loop system are bounded and tracking error converges to a small neighborhood of the origin in fast finite-time. Finally, simulation results illustrate the validity of the proposed approach.

scholarly journals Finite-Time Tracking Control for a Class of MIMO Nonlinear Systems with Unknown Asymmetric Saturations

2017 ◽  
Vol 2017 ◽  
pp. 1-10
Author(s):  
Fu Mingyu ◽  
Xu Yujie
Keyword(s):  
Nonlinear Systems ◽  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Tracking Error ◽  
Input Saturation ◽  
Approximation Error ◽  
Time Interval ◽  
Mimo Nonlinear Systems

This paper addresses the problem of finite-time tracking control for multiple-input and multiple-output (MIMO) nonlinear systems with asymmetric saturations. A systematic approach is proposed to eliminate the effects of unmeasured external disturbances and unknown asymmetric saturations. In the proposed control strategy, a terminal sliding mode disturbance observer is provided to estimate the augmented disturbance (which contains the unknown asymmetric input saturation and external disturbance). The approximation error of the augmented disturbance can converge to zero in a fixed finite-time interval. Furthermore, a novel finite-time tracking control algorithm is developed to guarantee fast convergence of the tracking error. Compared with the existing results on finite-time tracking control, the chattering problem and the input saturation problem can be solved in a unified framework. Several simulations are given to demonstrate the effectiveness of the proposed approach.

scholarly journals Moving Target Tracking of Extended Nonholonomic Chained-Form Systems via Finite-Time Switching Control

2018 ◽  
Vol 2018 ◽  
pp. 1-8
Author(s):  
Hua Chen ◽  
Lei Chen ◽  
Fei Tong
Keyword(s):  
Finite Time ◽  
Tracking Error ◽  
Switching Control ◽  
Stability Control ◽  
Moving Target ◽  
Time Switching ◽  
Control Approach ◽  
Finite Time Stability ◽  
Output Tracking ◽  
Control Scheme

A finite-time switching control scheme is presented for tracking a practical moving target of extended nonholonomic chained-form systems. Firstly, a dynamic output tracking error model is proposed combining moving target and extended nonholonomic chained-form systems. Secondly, two decoupled subsystems are considered for the tracking error systems, based on which the rigorous convergence and stability analysis are proposed by applying the finite-time stability control theory and switching design methods. Finally, the effectiveness of the proposed finite-time switching control approach is performed according to the further simulation results.

scholarly journals Finite-Time Adaptive Fuzzy Control for Nonlinear Systems with Unknown Backlash-Like Hysteresis

2021 ◽  
Author(s):  
Shuzhen Diao ◽  
Wei Sun ◽  
Le Wang ◽  
Jing Wu
Keyword(s):  
Fuzzy Control ◽  
Finite Time ◽  
Fuzzy Systems ◽  
Tracking Error ◽  
Adaptive Fuzzy Control ◽  
Finite Time Stability ◽  
Adaptive Fuzzy ◽  
Intermediate Variable ◽  
Control Scheme ◽  
Theoretical Results

AbstractThis study considers the tracking control problem of the nonstrict-feedback nonlinear system with unknown backlash-like hysteresis, and a finite-time adaptive fuzzy control scheme is developed to address this problem. More precisely, the fuzzy systems are employed to approximate the unknown nonlinearities, and the design difficulties caused by the nonlower triangular structure are also overcome by using the property of fuzzy systems. Besides, the effect of unknown hysteresis input is compensated by approximating an intermediate variable. With the aid of finite-time stability theory, the proposed control algorithm could guarantee that the tracking error converges to a smaller region. Finally, a simulation example is provided to further verify the above theoretical results.

Cooperative Startup Control for Heterogeneous Vehicle Platoons: A Finite-time Output Tracking-based Approach

2021 ◽  
pp. 1-1
Author(s):  
Changkun Du ◽  
Yougang Bian ◽  
Haikuo Liu ◽  
Wei Ren ◽  
Pingli Lu ◽  
...  
Keyword(s):  
Finite Time ◽  
Output Tracking ◽  
Vehicle Platoons
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