Adaptive asymptotical tracking controller design for uncertain nonaffine nonlinear system with high‐order mismatched disturbances

2019 ◽  
Vol 33 (5) ◽  
pp. 731-746
Author(s):  
Haibin Sun ◽  
Guangdeng Zong ◽  
Chaojie Li ◽  
Xinghuo Yu
Keyword(s):  
Nonlinear System ◽  
Controller Design ◽  
High Order ◽  
Tracking Controller ◽  
Mismatched Disturbances ◽  
Nonaffine Nonlinear System

scholarly journals Design of Constructive Controller of Nonlinear System Based on Polynomial Function Growth Condition and Its Application in Deep Subsea Energy Mining and Production Control System

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Longchuan Guo ◽  
Chuanping Zhou ◽  
Xiaoqing Tian ◽  
Huawei Ji ◽  
Yudong Peng
Keyword(s):  
Control System ◽  
Nonlinear System ◽  
Control Problem ◽  
Growth Condition ◽  
Output Feedback ◽  
Controller Design ◽  
Polynomial Function ◽  
Growth Conditions ◽  
Simulation Software ◽  
Tracking Controller

This paper mainly studies the output feedback control problem of the stochastic nonlinear system based on loose growth conditions and applies the research results to the valve control system of underwater oil and gas pipelines, which can improve the speed and stability of the equipment system. First, the concept of randomness is introduced to study the actual tracking control problem of output feedback of stochastic nonlinear systems, remove the original harsher growth conditions, make it meet the more general polynomial function growth conditions, and propose a combination of static and dynamic output feedback practices. The design of the tracking controller makes all the states of the system meet boundedness and ensures that the tracking error of the system converges to a small neighborhood of zero. Second, the system is extended to the parameter-uncertain system, and the output feedback tracking controller with complete dynamic gain is constructed by proving the boundedness of the system state and gain. Further, the time-delay factor is introduced, and the nonlinear term of the system satisfies the more relaxed power growth condition, combined with the inverse method to cleverly construct a set of Lyapunov functions and obtain the output controller to ensure that the system is asymptotically probabilistic in the global scope. Stability. Finally, through the ocean library in the Simulation X simulation software, the controller design results are imported into the underwater electro-hydraulic actuator model to verify the effectiveness of the controller design.

scholarly journals Flatness-Based Aggressive Formation Tracking Control of Quadrotors with Finite-Time Estimated Feedforwards

2021 ◽  
Vol 11 (2) ◽  
pp. 792
Author(s):  
Zhicheng Hou ◽  
Gong Zhang ◽  
Wenlin Yang ◽  
Weijun Wang ◽  
Changsoo Han
Keyword(s):  
Motion Control ◽  
Finite Time ◽  
Attitude Control ◽  
Tracking Control ◽  
Controller Design ◽  
High Order ◽  
Experimental Results ◽  
Formation Tracking ◽  
Tracking Controller ◽  
Formation Pattern

In this paper we address a decentralized neighbor-based formation tracking control of multiple quadrotors with leader–follower structure. Different from most of the existing work, the formation tracking controller is given in one loop without distinguishing the motion control and attitude control by means of the theory of flatness. In order to achieve an aggressive formation tracking, the high-order states of the neighbors motion are estimated by using a proposed extended finite-time observer for each quadrotor. Then the estimated motion states are used as feedforwards in the formation controller design. Simulation and experimental results show that the proposed formation controller improves the formation performance, i.e., the formation pattern of the quadrotors is better maintained than that using the formation controller without high-order feedforwards, when tracking an aggressive reference formation trajectory.

scholarly journals Disturbance Decoupling and Tracking Controller Design for Lateral Vehicle Dynamics

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 40706-40715
Author(s):  
Mohammad Reza Satouri ◽  
Abolhassan Razminia ◽  
Saleh Mobayen ◽  
Pawel Skruch
Keyword(s):  
Vehicle Dynamics ◽  
Controller Design ◽  
Disturbance Decoupling ◽  
Lateral Vehicle Dynamics ◽  
Tracking Controller
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