A New Robust Adaptive Backstepping for Ship Course-Keeping Control

2014 ◽  
Vol 536-537 ◽  
pp. 793-797 ◽  
Author(s):  
Hao Duo Wang ◽  
Qin Ruo Wang ◽  
Luo Yan ◽  
Xiao Ze Wu
Keyword(s):  
External Disturbance ◽  
Tracking Error ◽  
Uniform Boundedness ◽  
Robust Adaptive Control ◽  
Closed Loop System ◽  
Adaptive Backstepping ◽  
Ship Steering ◽  
Control Scheme ◽  
Course Control ◽  
Robust Adaptive

In this paper, we develop a new robust adaptive control scheme for ship steering by introducing alternative smooth function and Nussbaum function into backstepping approaches. And no requirements for the knowledge of control coefficient and the bound of unknown external disturbance, the proposed strategy implements the global stability of the ship course control and guarantees the global uniform boundedness of all signals of the resulting closed-loop system. Theoretical analysis demonstrates that tracking error asymptotically converges within an arbitrary small value pre-described by designer. Simulation results illustrate the effectiveness of the developed adaptive backstepping control law.

Adaptive control of a class of non-linear systems preceded by backlash-like hysteresis

2014 ◽  
Vol 24 (5) ◽  
Author(s):  
JIANPING CAI ◽  
LUJUAN SHEN ◽  
FUZHEN WU
Keyword(s):  
Differential Equation ◽  
Adaptive Control ◽  
Linear Systems ◽  
Tracking Error ◽  
Robust Adaptive Control ◽  
Unknown Parameters ◽  
Control Scheme ◽  
Non Linear ◽  
Non Linear Systems ◽  
Robust Adaptive

We consider a class of uncertain non-linear systems preceded by unknown backlash-like hysteresis, which is modelled by a differential equation. We propose a new state feedback robust adaptive control scheme using a backstepping technique and properties of the differential equation. In this control scheme, we construct a new continuous function to design an estimator to estimate the unknown constant parameters and the unknown bound of a ‘disturbance-like’ term. The transient performance of the output tracking error can be guaranteed by the introduction of pre-estimates of the unknown parameters in our controller together with update laws. We do not require bounds on the ‘disturbance-like’ term or unknown system parameters in this scheme. The global stability of the closed-loop system can be proved.

Robust adaptive control for robot manipulators: Support vector regression-based command filtered adaptive backstepping approach

Robotica ◽  
2017 ◽  
Vol 36 (4) ◽  
pp. 516-534 ◽  
Author(s):  
Joseph Jean-Baptiste Mvogo Ahanda ◽  
Jean Bosco Mbede ◽  
Achille Melingui ◽  
Bernard Essimbi
Keyword(s):  
Adaptive Control ◽  
Support Vector Regression ◽  
Closed Loop ◽  
Robot Manipulators ◽  
Robust Adaptive Control ◽  
Support Vector ◽  
Closed Loop System ◽  
Adaptive Backstepping ◽  
Backstepping Approach ◽  
Robust Adaptive

SUMMARYThis study derives a robust adaptive control of electrically driven robot manipulators using a support vector regression (SVR)-based command filtered adaptive backstepping approach. The robot system is supposed to be subject to model uncertainties, neglected dynamics, and external disturbances. The command filtered backstepping algorithm is extended to the case of the robot manipulators. A robust term is added to the common adaptive SVR algorithm, to mitigate the effects of the SVR approximation error in the path tracking performance. The stability analysis of the closed loop system using the Lyapunov theory permits to highlight adaptation laws and to prove that all the signals in the closed loop system are bounded. Simulations show the effectiveness of the proposed control strategy.

An Robust Adaptive Control Scheme for Hydraulic Servo Systems

2006 ◽  
Author(s):  
Torben Ole Andersen ◽  
Michael Ryygaard Hansen
Keyword(s):  
Adaptive Control ◽  
Tracking Error ◽  
Adaptive Controller ◽  
Robust Adaptive Control ◽  
Region Of Attraction ◽  
Control Scheme ◽  
Whole Space ◽  
Bounded Disturbances ◽  
Robust Adaptive ◽  
Adaptive Control Scheme

The paper looks into Model Reference Adaptive Control (MRAC) based on a linear plant model with constant or slowly varying parameters. The actual plant is non-linear, of a higher model order, subjected to time-varying bounded disturbances, and the measured values may be corrupted by noise. These problems are explored and the adaptive algorithms are modified to counteract instability mechanisms and for improved robustness with respect to bounded disturbances and non-modeled dynamics. The adaptive controller identifies the dominant dynamics and uses feedforward to provide anticipative actions in tracing task while an adaptive feedback part stabilizes the tracking error dynamics. Also the effects of non-modeled high frequency dynamics and bounded disturbances on stability and performance are analyzed. The adaptive control scheme is robust in the sense that it guarantees the existence of a large region of attraction from which all the trajectories remain bounded. The size of the region of attraction depends on the non-modeled dynamics in such a way that if the non-modeled dynamics is infinitely fast, the region of attraction becomes the whole space. Simulation and experimental results are presented and discussed to demonstrate the strength of the proposed algorithm.

scholarly journals Nonlinear Constrained Adaptive Backstepping Tracking Control for a Hypersonic Vehicle with Uncertainty

2015 ◽  
Vol 2015 ◽  
pp. 1-16 ◽  
Author(s):  
Qin Zou ◽  
Fang Wang ◽  
Qun Zong
Keyword(s):  
Controller Design ◽  
Input Saturation ◽  
Hypersonic Vehicle ◽  
Backstepping Control ◽  
Robust Adaptive Control ◽  
Adaptive Backstepping ◽  
Control Scheme ◽  
Auxiliary Signal ◽  
Control Saturation ◽  
Robust Adaptive

The control problem of a flexible hypersonic vehicle is presented, where input saturation and aerodynamic uncertainty are considered. A control-oriented model including aerodynamic uncertainty is derived for simple controller design due to the nonlinearity and complexity of hypersonic vehicle model. Then it is separated into velocity subsystem and altitude subsystem. On the basis of the integration of robust adaptive control and backstepping technique, respective controller is designed for each subsystem, where an auxiliary signal provided by an additional dynamic system is used to compensate for the control saturation effect. Then to deal with the “explosion of terms” problem inherent in backstepping control, a novel first-order filter is proposed. Simulation results are included to demonstrate the effectiveness of the adaptive backstepping control scheme.

scholarly journals Adaptive H-infinity tracking control for microgyroscope

2020 ◽  
Vol 12 (6) ◽  
pp. 168781402092783 ◽  
Author(s):  
Yunmei Fang ◽  
Cuicui An ◽  
Wanru Juan ◽  
Juntao Fei
Keyword(s):  
Adaptive Control ◽  
Tracking Control ◽  
Tracking Error ◽  
Robust Adaptive Control ◽  
Control Technique ◽  
H Infinity ◽  
Control Scheme ◽  
H Infinity Control ◽  
Robust Adaptive ◽  
Control Methodology

An adaptive H-infinity tracking control is proposed for a z-axis microgyroscope with system nonlinearities. All the signals can be guaranteed in a bounded range, and tracking error is uniformly ultimately bounded, an H-infinity tracking performance is also achieved to a prescribed level. Adaptive control methodology is integrated with H-infinity control technique to achieve robust adaptive control, and adaptive algorithm is used to estimate the unknown system parameters. Simulation studies for microgyroscope are conducted to prove the validity of the proposed control scheme with good performance and robustness.

scholarly journals Neural Network-Based Adaptive Backstepping Control for Hypersonic Flight Vehicles with Prescribed Tracking Performance

2015 ◽  
Vol 2015 ◽  
pp. 1-10 ◽  
Author(s):  
Zhu Guoqiang ◽  
Liu Jinkun
Keyword(s):  
Neural Control ◽  
Closed Loop ◽  
Tracking Error ◽  
Closed Loop System ◽  
Adaptive Backstepping ◽  
Adaptive Neural Control ◽  
Hypersonic Flight ◽  
Flight Vehicles ◽  
Control Scheme ◽  
Constraint Variable

An adaptive neural control scheme is proposed for a class of generic hypersonic flight vehicles. The main advantages of the proposed scheme include the following: (1) a new constraint variable is defined to generate the virtual control that forces the tracking error to fall within prescribed boundaries; (2) RBF NNs are employed to compensate for complex and uncertain terms to solve the problem of controller complexity; (3) only one parameter needs to be updated online at each design step, which significantly reduces the computational burden. It is proved that all signals of the closed-loop system are uniformly ultimately bounded. Simulation results are presented to illustrate the effectiveness of the proposed scheme.

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