A composite control method based on the adaptive RBFNN feedback control and the ESO for two-axis inertially stabilized platforms

Lei, Xusheng; Zou, Ying; Dong, Fei

doi:10.1016/j.isatra.2015.09.011

Cited by 31 publications

(22 citation statements)

References 17 publications

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“…The closedloop error system can be utilized to guarantee that the remaining signals are bounded and the definition of ( ) and ( ) can conclude that ( ) is uniformly continuous. According to Theorem 8.4 of [24], ‖ ‖ 2 → 0 as → ∞. Then based on the definition of ( ), it can be concluded that ‖ 1 ( )‖ → 0 as → ∞.…”

Section: Theorem 4 Given the Slow Varying Dynamics Of A Fshv Presentmentioning

confidence: 95%

“…(14), (15). With a hierarchical control strategy designed in (22), (23), (24), and (43), there exists * > 0 so that, for all < * , the overall system can achieve asymptotic stability at the equilibrium point.…”

Section: Theorem 4 Given the Slow Varying Dynamics Of A Fshv Presentmentioning

confidence: 99%

“…Due to the simple structure of the DOB, it is often used in real-time control applications for high precision. To enhance the disturbance rejection performance, a composite hierarchical antidisturbance control (CHADC) is proposed in [22][23][24][25]. In this method, the disturbance observer is built in the inner-loop to estimate the generalized disturbance, and an outer-loop robust controller is also developed to compensate for the residual error of the DOB [22].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel with Actuator Dynamics: A Singular Perturbation Approach

Liu

Zhang

2017

Mathematical Problems in Engineering

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This paper presents a two-time scale control structure for the course keeping of an advanced marine surface vehicle, namely, the fully submerged hydrofoil vessel. The mathematical model of course keeping control for the fully submerged hydrofoil vessel is firstly analyzed. The dynamics of the hydrofoil servo system is considered during control design. A two-time scale model is established so that the controllers of the fast and slow subsystems can be designed separately. A robust integral of the sign of the error (RISE) feedback control is proposed for the slow varying system and a disturbance observer based state feedback control is established for the fast varying system, which guarantees the disturbance rejection performance for the two-time scale systems. Asymptotic stability is achieved for the overall closed-loop system based on Lyapunov stability theory. Simulation results show the effectiveness and robustness of the proposed methodology.

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Section: Theorem 4 Given the Slow Varying Dynamics Of A Fshv Presentmentioning

confidence: 95%

Section: Theorem 4 Given the Slow Varying Dynamics Of A Fshv Presentmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel with Actuator Dynamics: A Singular Perturbation Approach

Liu

Zhang

2017

Mathematical Problems in Engineering

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“…Moreover, RBFNN is commonly used to estimate the disturbance for its approximation ability [10,11]. In reference [11], an adaptive RBFNN was proposed to generate the feedback control parameters online, while the extended state observer is used to compensate for composite disturbances. The control strategy eliminates disturbances in large scale, while the overshoot of response is large.…”

Section: Introductionmentioning

confidence: 99%

Guaranteeing Prescribed Performance Control for Gyrostabilized Platform with Unknown Control Direction Preceded by Hysteresis

Wang

Lei

et al. 2019

International Journal of Aerospace Engineering

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This paper investigates the problem of precise and quick tracking for gyrostabilized platform (GSP) with unknown hysteresis, unknown control directions, and unknown compound disturbance. Firstly, the dynamic model of GSP is transformed into a strict feedback formulation by designed FD to facilitate the backstepping control system. Secondly, performance functions are constructed at each step of backstepping design to force tracking errors to fall within the prescribed boundaries. Besides, through ingenious transformation, radial basis function neural network (RBFNN) is applied to estimate the unknown control gains preceded by hysteresis. Hence, the problem of prescribed performance control with unknown compound disturbances, unknown hysteresis, and unknown control directions is creatively solved. Furthermore, the exploited controllers are accurate model independent, which guarantees satisfactory robustness of control laws against unknown uncertainties. Finally, the stability of the closed-loop control system is confirmed via Lyapunov stability theory, and numerical simulations are given for a GSP to validate the effectiveness of the proposed controller.

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“…In [7], the common disturbances in the ISP are summarized systematically. In [8], a composite control method based on the adaptive radial basis function neural network (NN) feedback control and the extended state observer is applied to a two-axis ISP system. In [9], an adaptive decoupling control for three-axis gyro stabilized platform based on the NN is proposed.…”

Section: Introductionmentioning

confidence: 99%

An Improved Fuzzy Neural Network Compound Control Scheme for Inertially Stabilized Platform for Aerial Remote Sensing Applications

Zhou

Yuan

et al. 2018

International Journal of Aerospace Engineering

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An improved fuzzy neural network (FNN)/proportion integration differentiation (PID) compound control scheme based on variable universe and back-propagation (BP) algorithms is proposed to improve the ability of disturbance rejection of a three-axis inertially stabilized platform (ISP) for aerial remote sensing applications. In the design of improved FNN/PID compound controller, the variable universe method is firstly used for the design of the fuzzy/PID compound controller; then, the BP algorithm is utilized to finely tune the controller parameters online. In this way, the desired performances with good ability of disturbance rejection and high stabilization accuracy are obtained for the aerial ISP. The simulations and experiments are, respectively, carried out to validate the improved FNN/PID compound control method. The results show that the improved FNN/PID compound control scheme has the excellent capability in disturbance rejection, by which the ISP’s stabilization accuracy under dynamic disturbance is improved significantly.

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A composite control method based on the adaptive RBFNN feedback control and the ESO for two-axis inertially stabilized platforms

Cited by 31 publications

References 17 publications

Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel with Actuator Dynamics: A Singular Perturbation Approach

Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel with Actuator Dynamics: A Singular Perturbation Approach

Guaranteeing Prescribed Performance Control for Gyrostabilized Platform with Unknown Control Direction Preceded by Hysteresis

An Improved Fuzzy Neural Network Compound Control Scheme for Inertially Stabilized Platform for Aerial Remote Sensing Applications

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