scholarly journals Robust Tracking Control for Vehicle Lateral Dynamics with Uncertain Parameters and External Nonlinearities

2014 ◽  
Vol 2014 ◽  
pp. 1-12 ◽  
Author(s):  
Huihui Pan ◽  
Yifu Zhang ◽  
Weichao Sun
Keyword(s):  
Tracking Control ◽  
Controller Design ◽  
Reference Signal ◽  
Dynamic Surface Control ◽  
Parameter Uncertainties ◽  
Robust Tracking Control ◽  
Sideslip Angle ◽  
Dynamic Surface ◽  
Control Laws ◽  
Yaw Rate

This paper focuses on the problem of tracking control for vehicle lateral dynamic systems and designs an adaptive robust controller (ARC) based on backstepping technology to improve vehicle handling and stability, in the presence of parameter uncertainties and external nonlinearities. The main target of controller design has two aspects: the first target is to control the sideslip angle as small as possible, and the second one is to keep the real yaw rate tracking the desired yaw rate. In order to compromise the two indexes, the desired sideslip angle is planned as a new reference signal, instead of the ideal “zero.” As a result, the designed controller not only accomplishes the control purposes mentioned above, but also effectively attenuates both the changes of vehicle mass and the variations of cornering stiffness. In addition, to overcome the problem of “explosion of complexity” caused by backstepping method in the traditional ARC design, the dynamic surface control (DSC) technique is used to estimate the derivative of the virtual control. Finally, a nonlinear vehicle model is employed as the design example to illustrate the effectiveness of the proposed control laws.

Extended state observer-based finite-time dynamic surface control for trajectory tracking of a quadrotor unmanned aerial vehicle

2020 ◽  
Vol 42 (15) ◽  
pp. 2956-2968
Author(s):  
Bo Li ◽  
Hanyu Ban ◽  
Wenquan Gong ◽  
Bing Xiao
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Dynamic Surface Control ◽  
Extended State ◽  
Parameter Uncertainties ◽  
Trajectory Tracking Control ◽  
Dynamic Surface ◽  
Surface Control ◽  
Aerial Vehicle

This work presents a novel control strategy for the trajectory tracking control of the quadrotor unmanned aerial vehicle (UAV) with parameter uncertainties and external unknown disturbances. As a stepping stone, two fixed-time extended state observers (ESOs) are proposed to estimate the external disturbances and/or the parameter uncertainties for the position and attitude subsystems, respectively. Then, the fast terminal sliding mode-based improved dynamic surface control (DSC) approaches are developed. To eliminate the problem of “explosion of complexity” inherent in backstepping method-based controllers, the finite-time command filters and an error compensation signals are used in the design of the dynamic surface controllers. Subsequently, the practically finite-time stability of the closed-loop tracking system is guaranteed by utilizing the proposed control scheme. The simulation results are obtained to demonstrate the effectiveness and fine performance of the proposed trajectory tracking control approaches.

scholarly journals Adaptive Asymptotic Tracking Control for a Class of Uncertain Input-Delayed Systems with Periodic Time-Varying Disturbances

2021 ◽  
Vol 2021 ◽  
pp. 1-21
Author(s):  
Xiaoman Yan ◽  
Chunsheng Zhang ◽  
Dewen Cao ◽  
Jian Wu
Keyword(s):  
Tracking Control ◽  
Reference Signal ◽  
Dynamic Surface Control ◽  
Control Technique ◽  
Fourier Series Expansion ◽  
Time Varying ◽  
Dynamic Surface ◽  
Delayed Systems ◽  
Asymptotic Tracking ◽  
Function Approximator

In this paper, the problem of adaptive asymptotic tracking control for a class of uncertain systems with periodic time-varying disturbances and input delay is studied. By combining Fourier series expansion (FSE) with radial basis function neural network (RBFNN), a hybrid function approximator is used to learn the functions with periodic time-varying disturbances. At the same time, the dynamic surface control technique with a nonlinear filter is used to avoid the “complexity explosion” problem in the process of traditional backstepping technology. Ultimately, all closed-loop signals are guaranteed to be semiglobally uniformly bounded, and the given reference signal can be asymptotically tracked by the output signals of system. A simulation example is given to verify the effectiveness of the proposed control scheme.

scholarly journals Adaptive Asymptotic Tracking Control for a Class of Uncertain Switched Systems via Dynamic Surface Technique

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-9
Author(s):  
Xuemiao Chen ◽  
Qianjin Zhao ◽  
Chunsheng Zhang ◽  
Jian Wu
Keyword(s):  
Switched Systems ◽  
Tracking Control ◽  
Control Method ◽  
Reference Signal ◽  
Adaptive Controller ◽  
Dynamic Surface Control ◽  
Dynamic Surface ◽  
Adaptive Tracking Control ◽  
Nonlinear Switched Systems ◽  
Control Scheme

A novel adaptive tracking control scheme is proposed for a class of uncertain nonlinear switched systems with perturbations in this paper. The common Lyapunov function method is introduced to handle the switched system in the design process of the desired adaptive controller. In addition, a dynamic surface control method is proposed by employing a nonlinear filter such that the “explosion of complexity” problem existing in the conventional backstepping design can be overcome. Under the presented adaptive controller, all the closed-loop signals are semiglobally bounded, and especially the output signal of the controlled system can follow the given reference signal asymptotically. To show the availability of the presented control scheme, a simulation is given in this paper.

Hypersonic Aircraft Nonlinear Fault-Tolerant Controller Design

2014 ◽  
Vol 494-495 ◽  
pp. 1056-1059 ◽  
Author(s):  
Jie Chen ◽  
Yan Lin ◽  
Chang Peng Pan
Keyword(s):  
Controller Design ◽  
Fault Tolerant ◽  
Dynamic Surface Control ◽  
Nonlinear Observer ◽  
Phase System ◽  
Actuator Failure ◽  
Theory Analysis ◽  
Dynamic Surface ◽  
Hypersonic Aircraft ◽  
Adaptive Control Law

One hypersonic aircraft nonlinear observer and controller are designed synthetically to solve the part of actuator failure problem. The research model is developed based on a SISO output feedback nonlinear unobservered minimum phase system. filter is adopted to reconstruct state vectors, adaptive control law is designed to guarantee the system boundedness. Dynamic surface control is employed strategy to eliminate the explosion of terms by introducing a series of first order filters to obtain the differentiation of the virtual control inputs. Both theory analysis and simulation verification show the simpleness and effective of this method.

Adaptive decentralized fault-tolerant tracking control of a class of uncertain large-scale nonlinear systems with actuator faults

2016 ◽  
Vol 40 (3) ◽  
pp. 831-842 ◽  
Author(s):  
Yang Yang ◽  
Dong Yue
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
Large Scale ◽  
Fault Tolerant ◽  
Dynamic Surface Control ◽  
Mean Value ◽  
Value Theory ◽  
Tracking Errors ◽  
Dynamic Surface ◽  
The Stability

We are concerned with the fault-tolerant tracking control affair for a class of large-scale multi-input and multi-output (MIMO) nonlinear systems suffering from actuator failures. Taking advantage of the mean-value theory and the implicit function theorem, the non-affine subsystems are transformed into affine forms. Neural networks (NNs) are utilized to approximate unknown virtual control signals, and then an adaptive NN-based decentralized tracking control strategy is exploited recursively by combining backstepping methods as well as the dynamic surface control (DSC) methodology. In theory, the stability of the resulting whole system is rigorously analysed, where it is proven that all signals remain uniformly ultimately bounded (UUB) and the designed strategy can guarantee the convergence of tracking errors via a suitable choice of control parameters. Finally, two simulation examples, both practical and numerical examples, are illustrated to verify the feasibility of the theoretical claims.

An Improved Dynamic Surface Control Approach and Applications to the Control of DC-DC Power Converter

2012 ◽  
Vol 229-231 ◽  
pp. 811-814
Author(s):  
Wen Lei Li
Keyword(s):  
Dynamic Surface Control ◽  
Power Converter ◽  
Buck Converter ◽  
Parameter Uncertainties ◽  
Dynamic Surface ◽  
Control Approach ◽  
Controlled Systems ◽  
Dc Power ◽  
Surface Control ◽  
Equivalence Criterion

This article presents an improved dynamic surface control (IDSC) approach for DC-DC Buck converter with parameter uncertainties and external disturbances. For IDSC method, the parameters update laws are designed based on uncertainty equivalence criterion, the requirements to the controlled systems are reduced, and the problem of explosion of complexity can be overcome. The features of the derived controller are discussed and illustrated by the Simulation study. The analysis and simulation show that the obtained controller possesses good adaptability and robustness to system uncertainties.

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