Control design for LPV systems with input saturation and state constraints: An application to a semi-active suspension

2011 ◽  
Author(s):  
A.L. Do ◽  
J.M. Gomes da Silva ◽  
O. Sename ◽  
L. Dugard
Keyword(s):  
State Constraints ◽  
Input Saturation ◽  
Control Design ◽  
Active Suspension ◽  
Lpv Systems

scholarly journals Prescribed Performance Control of Marine Surface Vessel Trajectory Tracking in Finite-Time with Full-State Constraints and Input Saturation

2021 ◽  
Vol 9 (8) ◽  
pp. 866
Author(s):  
Xiyun Jiang ◽  
Yuanhui Wang
Keyword(s):  
Finite Time ◽  
State Constraints ◽  
Tracking Error ◽  
Input Saturation ◽  
Prescribed Performance ◽  
Full State ◽  
Marine Surface ◽  
Surface Vessel ◽  
Full State Constraints ◽  
Function Matrix

This manuscript mainly solves a fully actuated marine surface vessel prescribed performance trajectory tracking control problem with full-state constraints and input saturation. The entire control design process is based on a backstepping technique. The prescribed performance control is introduced to embody the analytical relationship between the transient performance and steady-state performance of the system and the parameters. Meanwhile, a new finite time performance function is introduced to ensure that the performance of the system tracking error is constrained within the preset constraints in finite time, and the full-state constraints problem of the system can be solved simultaneously in the entire control design, at the same time without introducing additional theory and parameters. To solve the non-smooth input saturation function matrix is not differentiable, the smooth function matrix is introduced to replace the non-smooth characteristics. Combining the Moore-Penrose generalized inverse matrix to design the virtual control law, the dynamic surface control is introduced to avoid the complicated virtual control derivation process, and finally the actual control law is designed using the properties of Nussbaum function. In addition, in view of the uncertainties in the system, a fractional disturbance observer is designed to estimate it. With the proposed control, the full-state will never be violated constraints, and the system tracking error satisfies transient and steady-state performance. Compared with other methods, the simulation results show the effectiveness and advantages of the proposed method.

scholarly journals Robust path-following control of underactuated AUVs with multiple uncertainties and state constraints

2021 ◽  
Vol 2121 (1) ◽  
pp. 012042
Author(s):  
Kankan Deng ◽  
Jianming Miao ◽  
Xingyu Sun
Keyword(s):  
State Constraints ◽  
Input Saturation ◽  
Path Following ◽  
Design System ◽  
Robust Controller ◽  
Dynamic Controller ◽  
Tracking Differentiator ◽  
Path Following Control ◽  
Nonlinear Tracking ◽  
Multiple Uncertainties

Abstract This paper proposes a novel robust controller for horizontal path-following problem of an underactuated AUV subject to multiple uncertainties and state constraints. Firstly, four reduced-order extended state observes (ESOs) are designed to estimate the multiple uncertainties, and the estimated values are adopted in the design of kinematic and dynamic controller. Secondly, to address the state constraints, the barrier Lyapunov function is incorporated with the kinematic controller. To resolve the problem of input saturation, the auxiliary design system is utilized in the dynamic controller. To address the problem of “explosion of complexity” inherent in the conventional back-stepping method, a nonlinear tracking differentiator is utilized to obtain the derivative of the desired yaw speed. Finally, the results of numerical simulation are performed to demonstrate the effectiveness of the proposed controller.

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