scholarly journals Robust Adaptive Dynamic Surface Control for a Class of Nonlinear Dynamical Systems with Unknown Hysteresis

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Yong-Hua Liu ◽  
Ying Feng ◽  
Xinkai Chen
Keyword(s):  
Controller Design ◽  
Nonlinear Dynamical Systems ◽  
Design Procedure ◽  
Adaptive Controller ◽  
Dynamic Surface Control ◽  
Control Technique ◽  
Negative Effects ◽  
Dynamic Surface ◽  
Surface Control ◽  
Robust Adaptive

The output tracking problem for a class of uncertain strict-feedback nonlinear systems with unknown Duhem hysteresis input is investigated. In order to handle the undesirable effects caused by unknown hysteresis, the properties in respect to Duhem model are used to decompose it as a nonlinear smooth term and a nonlinear bounded “disturbance-like” term, which makes it possible to deal with the unknown hysteresis without constructing inverse in the controller design. By combining robust control and dynamic surface control technique, an adaptive controller is proposed in this paper to avoid “the explosion complexity” in the standard backstepping design procedure. The negative effects caused by the unknown hysteresis can be mitigated effectively, and the semiglobal uniform ultimate boundedness of all the signals in the closed-loop system is obtained. The effectiveness of the proposed scheme is validated through a simulation example.

scholarly journals Robust Adaptive Control of MIMO Pure-Feedback Nonlinear Systems via Improved Dynamic Surface Control Technique

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 96672-96685 ◽  
Author(s):  
Yang Zhou ◽  
Wenhan Dong ◽  
Shuangyu Dong ◽  
Yong Chen ◽  
Renwei Zuo ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Nonlinear Systems ◽  
Dynamic Surface Control ◽  
Robust Adaptive Control ◽  
Control Technique ◽  
Dynamic Surface ◽  
Surface Control ◽  
Robust Adaptive

EXPONENTIAL STABILIZATION OF THE INERTIA WHEEL PENDULUM USING DYNAMIC SURFACE CONTROL

2007 ◽  
Vol 16 (01) ◽  
pp. 81-92 ◽  
Author(s):  
NADEEM QAISER ◽  
NAEEM IQBAL ◽  
AMIR HUSSAIN ◽  
NAEEM QAISER
Keyword(s):  
Controller Design ◽  
Design Procedure ◽  
Dynamic Surface Control ◽  
Singular Perturbation Theory ◽  
Solution Stability ◽  
Nonlinear Controller ◽  
Control Lyapunov Function ◽  
Dynamic Surface ◽  
Surface Control ◽  
Inertia Wheel Pendulum

This paper considers the stabilization problem of Inertia Wheel Pendulum, a widely studied benchmark nonlinear system. It is a classical example of a flat underactuated mechanical system, for which the design of control law becomes a challenging task owing to its underactuated nature. A novel nonlinear controller design, fusing the recently introduced Dynamic Surface Control and the Control Lyapunov Function method, is presented as the solution. Stability is analyzed using concepts from Singular Perturbation Theory. The proposed design procedure is shown to be simpler and more intuitive than existing designs. Advantages over conventional Energy Shaping and Backstepping controllers are analyzed theoretically and verified using numerical simulations.

Path Following Control of Underactuated Marine Vessels via Dynamic Surface Control Technique

2008 ◽  
Author(s):  
So-Ryeok Oh ◽  
Jing Sun ◽  
Zhen Li
Keyword(s):  
Design Method ◽  
Direct Method ◽  
Design Procedure ◽  
Path Following ◽  
Dynamic Surface Control ◽  
Control Technique ◽  
Dynamic Surface ◽  
Surface Control ◽  
Path Following Control ◽  
Marine Vessels

This paper considers the path following problem of underactuated marine vessels whose control imposes a challenging problem due to its under-actuated nature. The recently developed Dynamic Surface Control (DSC) design method is applied to overcome the problem of explosion of terms associated with the backstepping design procedure. We show that the exponential stability of the resulting closed loop dynamics can be proved using Lyapunov direct method. The feasibility of the proposed Dynamic Surface Controller is evaluated analytically and verified through computer simulations and experiments.

Adaptive dynamic surface control for vision-based stabilization of an uncertain electrically driven nonholonomic mobile robot

Robotica ◽  
2014 ◽  
Vol 34 (2) ◽  
pp. 449-467 ◽  
Author(s):  
Zhengcai Cao ◽  
Longjie Yin ◽  
Yili Fu ◽  
Jian S Dai
Keyword(s):  
Adaptive Control ◽  
Mobile Robot ◽  
Design Procedure ◽  
Dynamic Surface Control ◽  
Robot Kinematics ◽  
Robot Dynamics ◽  
Dynamic Surface ◽  
Stabilizing Controller ◽  
Nonholonomic Mobile Robot ◽  
Surface Control

SUMMARYThis paper investigates the vision-based pose stabilization of an electrically driven nonholonomic mobile robot with parametric uncertainties in robot kinematics, robot dynamics, and actuator dynamics. A robust adaptive visual stabilizing controller is proposed with the utilization of adaptive control, backstepping, and dynamic surface control techniques. For the controller design, the idea of backstepping is used and the adaptive control approach is adopted to deal with all uncertainties. We also apply the dynamic surface control method to avoid the repeated differentiations of virtual controllers existing in the backstepping design procedure such that the control development is easier to be implemented. Moreover, to attenuate the effect of disturbances on control performance, smooth robust compensators are exploited. It is proved that all signals in the closed-loop system can be guaranteed to be uniformly ultimately bounded. Finally, simulation results are presented to illustrate the performance of the proposed controller.

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