scholarly journals A Robust Finite-Time Output Feedback Control Scheme for Marine Surface Vehicles Formation

IEEE Access ◽  
2018 ◽  
Vol 6 ◽  
pp. 41291-41301 ◽  
Author(s):  
Lingling Yu ◽  
Mingyu Fu
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Finite Time ◽  
Output Feedback Control ◽  
Control Scheme ◽  
Marine Surface Vehicles ◽  
Marine Surface

Extended state observer–based output feedback control for spacecraft pose tracking with control input saturation

2021 ◽  
pp. 095441002110177
Author(s):  
Kejie Gong ◽  
Ying Liao ◽  
Yafei Mei
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Finite Time ◽  
Output Feedback Control ◽  
State Observer ◽  
Extended State Observer ◽  
Control Input ◽  
Extended State ◽  
Pose Tracking ◽  
Control Scheme

This article proposed an extended state observer (ESO)–based output feedback control scheme for rigid spacecraft pose tracking without velocity feedback, which accounts for inertial uncertainties, external disturbances, and control input constraints. In this research, the 6-DOF tracking error dynamics is described by the exponential coordinates on SE(3). A novel continuous finite-time ESO is proposed to estimate the velocity information and the compound disturbance, and the estimations are utilized in the control law design. The ESO ensures a finite-time uniform ultimately bounded stability of the observation states, which is proved utilizing the homogeneity method. A non-singular finite-time terminal sliding mode controller based on super-twisting technology is proposed, which would drive spacecraft tracking the desired states. The other two observer-based controllers are also proposed for comparison. The superiorities of the proposed control scheme are demonstrated by theory analyses and numerical simulations.

Finite-time output feedback control for a pneumatic servo system

2016 ◽  
Vol 38 (12) ◽  
pp. 1520-1534 ◽  
Author(s):  
Xiangyu Wang ◽  
Guipu Li ◽  
Shihua Li ◽  
Aiguo Song
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Finite Time ◽  
Tracking Error ◽  
Output Feedback Control ◽  
Feedback Controller ◽  
Nonlinear Observer ◽  
Position Tracking ◽  
Piston Velocity ◽  
Control Scheme

In this paper, the position tracking control problem of pneumatic servo systems is investigated. These systems usually have high nonlinearities and unmeasurable piston velocities. Firstly, by using adding a power integrator technique, a global finite-time state feedback controller is proposed. Secondly, based on homogeneous theory, a nonlinear observer is developed to estimate the piston velocity. Finally, the corresponding output feedback controller is derived, which local finite-time stabilizes the position tracking error system. Compared with the conventional backstepping output feedback control scheme, the developed nonsmooth output feedback control scheme offers a faster convergence rate and a better disturbance rejection property. Numerical simulations illustrate the effectiveness of the proposed control scheme.

scholarly journals Finite-Time Sliding Mode Control Design for Unknown Nonaffine Pure-Feedback Systems

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Jun Zhou ◽  
Xianqiang Li
Keyword(s):  
Feedback Control ◽  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Output Feedback ◽  
Finite Time ◽  
Sliding Mode ◽  
Output Feedback Control ◽  
Finite Time Convergence ◽  
Mode Control ◽  
Control Scheme

A class of unknown nonaffine pure-feedback nonlinear systems is investigated and a novel output feedback control scheme with low complexity is proposed, based on the sliding mode control theory. The scheme is capable of guaranteeing output tracking error with finite-time convergence and bounded closed loop signals. In this scheme, a novel transformation method is included, which can easily transform the state-feedback control of nonaffine systems into output feedback control of strict-feedback affine systems. Based on the transformed affine systems, a novel finite-time sliding mode control is designed, which is continuous and nonsingular. The control scheme proposed in this work is simple and easy to implement, in which the ‘‘explosion of complexity’’ caused by backstepping-like scheme is completely avoided. And the finite-time convergence is successfully achieved. In addition, the scheme is designed based on output feedback control. And the dynamics of the nonaffine nonlinear systems is unknown in the design process. Thus, the system knowledge needed is reduced.

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