scholarly journals Learning composite adaptive control for a class of nonlinear systems

2004 ◽  
Author(s):  
J. Nakanishi ◽  
J.A. Farrell ◽  
S. Schaal
Keyword(s):  
Adaptive Control ◽  
Nonlinear Systems ◽  
Composite Adaptive Control

Adaptive control based on Barrier Lyapunov function for a class of full-state constrained stochastic nonlinear systems with dead-zone and unmodeled dynamics

2021 ◽  
pp. 014233122098563
Author(s):  
Fei Shen ◽  
Xinjun Wang ◽  
Xinghui Yin
Keyword(s):  
Adaptive Control ◽  
Nonlinear Systems ◽  
Lyapunov Function ◽  
Dead Zone ◽  
Small Neighborhood ◽  
Unmodeled Dynamics ◽  
Stochastic Nonlinear Systems ◽  
Dynamic Surface ◽  
Barrier Lyapunov Function ◽  
Full State

This paper investigates the problem of adaptive control based on Barrier Lyapunov function for a class of full-state constrained stochastic nonlinear systems with dead-zone and unmodeled dynamics. To stabilize such a system, a dynamic signal is introduced to dominate unmodeled dynamics and an assistant signal is constructed to compensate for the effect of the dead zone. Dynamic surface control is used to solve the “complexity explosion” problem in traditional backstepping design. Two cases of symmetric and asymmetric Barrier Lyapunov functions are discussed respectively in this paper. The proposed Barrier Lyapunov function based on backstepping method can ensure that the output tracking error converges in the small neighborhood of the origin. This control scheme can ensure that semi-globally uniformly ultimately boundedness of all signals in the closed-loop system. Two simulation cases are proposed to verify the effectiveness of the theoretical method.

Composite adaptive control based on historical data for electro-hydraulic system driven by dual servo motor-pump with unknown disturbance

2021 ◽  
pp. 095965182199860
Author(s):  
Xiaofu Zhang ◽  
Guanglin Shi
Keyword(s):  
Adaptive Control ◽  
Hydraulic System ◽  
Historical Data ◽  
Tracking Performance ◽  
Load Force ◽  
Position Tracking ◽  
Servo Motor ◽  
Estimated Parameters ◽  
Unknown Disturbance ◽  
Composite Adaptive Control

This article presents a composite adaptive control method to improve the position-tracking performance of an electro-hydraulic system driven by dual constant displacement pump and dual servo motor named as a novel electro-hydraulic system with unknown disturbance. A composite adaptive controller based on backstepping method is designed to estimate the uncertainties of electro-hydraulic control system, including the damping coefficient and elastic modulus. In order to release the persistent excitation condition of conventional adaptive control, which is often infeasible in practice, a prediction error based on the online historical data is used to update the estimated parameters. Furthermore, a disturbance observer is used to estimate the disturbance including the unmeasurable load force, friction and other unmodeled disturbance. The experiment results are provided and compared with other methods to verify the effectiveness of the proposed method, and the results have indicated that the proposed method has a better position-tracking performance with the convergent estimated parameters.

Real-Time Modular Deep Neural Network-Based Adaptive Control of Nonlinear Systems

2021 ◽  
pp. 1-1
Author(s):  
Duc M. Le ◽  
Max L. Greene ◽  
Wanjiku A. Makumi ◽  
Warren E. Dixon
Keyword(s):  
Neural Network ◽  
Adaptive Control ◽  
Nonlinear Systems ◽  
Real Time ◽  
Deep Neural Network
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