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 NN State-Feedback Control for Stochastic High-Order Nonlinear Systems with Time-Varying Control Direction and Delays

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Huifang Min ◽  
Na Duan
Keyword(s):  
State Feedback ◽  
Dynamic Surface Control ◽  
High Order ◽  
Feedback Stabilization ◽  
State Feedback Control ◽  
Control Technique ◽  
Delay Systems ◽  
Time Varying ◽  
Dynamic Surface ◽  
Control Direction

Nussbaum-type gain function and neural network (NN) approximation approaches are extended to investigate the adaptive state-feedback stabilization problem for a class of stochastic high-order nonlinear time-delay systems. The distinct features of this paper are listed as follows. Firstly, the power order condition is completely removed; the restrictions on system nonlinearities and time-varying control direction are greatly weakened. Then, based on Lyapunov-Krasovskii function and dynamic surface control technique, an adaptive NN controller is constructed to render the closed-loop system semiglobally uniformly ultimately bounded (SGUUB). Finally, a simulation example is shown to demonstrate the effectiveness of the proposed control scheme.

Attitude and height tracking control of unmanned helicopters with disturbances via disturbance observer-based composite dynamic surface control

2021 ◽  
pp. 014233122110232
Author(s):  
Xiangyu Wang ◽  
Ling Han ◽  
Jiyu Liu
Keyword(s):  
Tracking Control ◽  
Disturbance Observer ◽  
Control Design ◽  
Dynamic Surface Control ◽  
Control Technique ◽  
Tracking Errors ◽  
Dynamic Surface ◽  
Surface Control ◽  
Control Scheme ◽  
Tracking Controller

In this paper, the attitude and height tracking control problem is studied for unmanned helicopters with disturbances. To solve the problem, a composite control scheme is proposed based on the combination of dynamic surface control and disturbance observer-based control techniques. The control design includes two parts. In the first part, some nonlinear disturbance observers are designed to accurately estimate the helicopter’s disturbances in different channels. In the second part, based on the disturbance estimates and dynamic surface control technique, a composite dynamic surface tracking controller is designed. Under the proposed composite controller, the attitude and height tracking errors are uniformly ultimately bounded and they can be regulated to be very small by selecting proper controller parameters. For one thing, the proposed control scheme avoids “explosion of terms”, which generally exists in conventional backstepping control and provides a simpler control design. For another thing, without sacrificing the nominal control performances, the anti-disturbance ability of the closed-loop helicopter system is enhanced by using disturbance observers and feedforward compensations. Numerical simulations demonstrate the effectiveness and advantages of the proposed composite tracking controller.

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.

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.

Output feedback observer-based dynamic surface controller for quadrotor UAV using quaternion representation

2016 ◽  
Vol 231 (14) ◽  
pp. 2537-2548 ◽  
Author(s):  
Jingxin Dou ◽  
Xiangxi Kong ◽  
Xiaozhe Chen ◽  
Bangchun Wen
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Output Feedback ◽  
Dynamic Surface Control ◽  
Control Technique ◽  
Dynamic Surface ◽  
Attitude Tracking ◽  
Uncertain Disturbances ◽  
Aerial Vehicle ◽  
System Output ◽  
Quaternion Representation

An output feedback observer-based dynamic surface controller is presented for attitude tracking problem of the quadrotor unmanned aerial vehicle, which is subject to measurement noise and external disturbances. The dynamics model of the quadrotor unmanned aerial vehicle is firstly introduced with the quaternion representation. Subsequently, a nonlinear augmented observer is introduced for simultaneously estimating the unavailable states and uncertain disturbances from the measurement of system output. The output feedback controller based on the nonlinear augmented observer is designed with the dynamic surface control technique. The Lyapunov stability analysis shows that the attitude tracking performance is ensured and all signals of the closed-loop system remain bounded. Finally, simulative and experimental results are carried out to illustrate, compared with other observer-based controller, the effectiveness of the proposed method is better.

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