A Continuous Asymptotic Tracking Control Strategy for Uncertain Nonlinear Systems

Xian, Bin; Dawson, D.M.; Queiroz, M.S. de; Chen, J.

doi:10.1109/tac.2004.831148

Cited by 534 publications

(363 citation statements)

References 18 publications

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“…The entries of the control gain matrix C are required to satisfy (67) which depends on the constant upper bounds of uncertain system functions, and the entries of the control gain matrix K are required to be chosen large enough compared to the initial conditions of the system. While this may seem like a weakness of the proposed controller, we will address this issue by utilizing the self-tuning strategy that we recently designed in Bidikli et al (2013bBidikli et al ( , 2014 for the family of the controllers in Xian et al (2004) as an add-on to adjust the entries of C and K. Specifically, the entries of gain matrices C and K are updated according to…”

Section: Stability Analysismentioning

confidence: 99%

Robust dynamic positioning of surface vessels via multiple unidirectional tugboats

2016

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a b s t r a c tIn this paper, the problem of accurate positioning of an unactuated surface vessel by using multiple unidirectional tugboats is investigated. Specifically a robust controller that ensures asymptotic position tracking is designed. The control design procedure is implemented in two steps: Initially by locating opposing tugboats to specific configurations, the overall problem is transformed into a second order system with an uncertain non-symmetric input gain matrix. Then via a matrix decomposition, a novel robust controller methodology is proposed. The stability of the overall system is ensured via rigorous stability analysis where asymptotic position tracking is ensured. Numerical simulation results are presented to demonstrate the efficiency of the proposed controller.

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Section: Stability Analysismentioning

confidence: 99%

Robust dynamic positioning of surface vessels via multiple unidirectional tugboats

2016

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“…In this section 1 , for the compactness of the presentation the following single input single output (SISO) nonlinear system is considered [2] …”

Section: Error System Developmentmentioning

confidence: 99%

“…It is noted that, the definition of r (t) hasė n (t) which requires unmeasurable x (n) (t) then it is clear that r (t) is not measurable and thus cannot be utilized in the control design. 2 A numerical simulation study is conducted to demonstrate performance of application to a second order MIMO system.…”

Section: Error System Developmentmentioning

confidence: 99%

“…Also with most robust controller designs, convergence of the error signal to an ultimate bound can be guaranteed, and over-shrinking this ultimate bound causes chattering, which is undesirable. To our best knowledge, the first continuous and asymptotically stable robust controller was presented in [2] and [3]. In [2], motivated by the work of [4], authors designed a continuous robust controller for a class of nonlinear systems.…”

Section: Introductionmentioning

confidence: 99%

“…To our best knowledge, the first continuous and asymptotically stable robust controller was presented in [2] and [3]. In [2], motivated by the work of [4], authors designed a continuous robust controller for a class of nonlinear systems. In this methodology the integral of the sign of the error was utilized instead of the sign of error used in standard sliding mode controllers.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A self tuning RISE controller formulation

Bıdıklı

Tatlıcıoğlu

Zergeroğlu

2014

2014 American Control Conference

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Abstract-In recent years, controller formulations using robust integral of sign of error (RISE) type feedback have been successfully applied to a variety of nonlinear dynamical systems. The drawback of these type of controllers however, are (i) the need of prior knowledge of the upper bounds of the system uncertainties and (ii) the absence of a proper gain tuning methodology. To tackle the aforementioned weaknesses, in our previous work [1] we have presented a RISE formulation with a time-varying compensation gain to cope for the need of upper bound of the uncertain system. In this study, we have extended our previous design to obtain a fully self tuning RISE feedback formulation. Lyapunov based arguments are applied to prove overall system stability and extensive numerical simulation studies are presented to illustrate the performance of the proposed method.

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An Actor–Critic–Identifier Architecture for Adaptive Approximate Optimal Control

Bhasin

Kamalapurkar

Johnson

et al. 2012

Reinforcement Learning and Approximate Dynamic Programming for Feedback Control

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A Continuous Asymptotic Tracking Control Strategy for Uncertain Nonlinear Systems

Cited by 534 publications

References 18 publications

Robust dynamic positioning of surface vessels via multiple unidirectional tugboats

Robust dynamic positioning of surface vessels via multiple unidirectional tugboats

A self tuning RISE controller formulation

An Actor–Critic–Identifier Architecture for Adaptive Approximate Optimal Control

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