A new approach to finite-time adaptive stabilization of high-order uncertain nonlinear system

Sun, Zhigang; Xue, Lingrong; Zhang, Kemei

doi:10.1016/j.automatica.2015.05.005

Cited by 257 publications

(146 citation statements)

References 32 publications

Supporting

Mentioning

144

Contrasting

Order By: Relevance

“…Especially in Sun et al 17 and Sun and Liu, 18 stabilization of high-order uncertain nonlinear systems with state delays were investigated by using adaptive approach. 19,20 This paper focuses on the problem of input delay, ie, the time delay that occurs between the control input and the plant. Specifically, predictor-based techniques such as Artstein model reduction 2 and finite spectrum assignment, 3 which originate from classic Smith predictor method, 4 are typically exploited to compensate for the input delay.…”

Section: Introductionmentioning

confidence: 99%

Time‐varying input delay compensation for nonlinear systems with additive disturbance: An output feedback approach

Deng

Yao

2017

Intl J Robust & Nonlinear

118

View full text Add to dashboard Cite

SummaryThis paper addresses the output feedback tracking control of a class of multipleinput and multiple-output nonlinear systems subject to time-varying input delay and additive bounded disturbances. Based on the backstepping design approach, an output feedback robust controller is proposed by integrating an extended state observer and a novel robust controller, which uses a desired trajectory-based feedforward term to achieve an improved model compensation and a robust delay compensation feedback term based on the finite integral of the past control values to compensate for the time-varying input delay. The extended state observer can simultaneously estimate the unmeasurable system states and the additive disturbances only with the output measurement and delayed control input. The proposed controller theoretically guarantees prescribed transient performance and steady-state tracking accuracy in spite of the presence of time-varying input delay and additive bounded disturbances based on Lyapunov stability analysis by using a LyapunovKrasovskii functional. A specific study on a 2-link robot manipulator is performed; based on the system model and the proposed design procedure, a suitable controller is developed, and comparative simulation results are obtained to demonstrate the effectiveness of the developed control scheme. | INTRODUCTIONTime delay that includes state delay and input delay is a pervasive phenomenon encountered in many practical engineering applications such as robotic systems, electrical networks, and hydraulic actuation systems. The existence of time delay may result in unexpected degradation in control performance and even instability. 1 Hence, how to effectively attenuate the effect of time delay has always been the research hotspot during the latest several decades, with numerous control schemes proposed, such as previous studies 2-12 for input delay and other studies [13][14][15][16][17][18] for state delay. Especially in Sun et al 17 and Sun and Liu, 18 stabilization of high-order uncertain nonlinear systems with state delays were investigated by using adaptive approach. 19,20 This paper focuses on the problem of input delay, ie, the time delay that occurs between the control input and the plant. Specifically, predictor-based techniques such as Artstein model reduction 2 and finite spectrum assignment, 3 which originate from classic Smith predictor method, 4 are typically exploited to compensate for the input delay. The core design in these predictor-based approaches is to transform the delayed system to a delay free one by using finite integrals over past control values. 21 In addition, many predictive controllers have also been synthesized based on the fact that the input delayed systems can be modeled as

show abstract

Section: Introductionmentioning

confidence: 99%

Time‐varying input delay compensation for nonlinear systems with additive disturbance: An output feedback approach

Deng

Yao

2017

Intl J Robust & Nonlinear

118

View full text Add to dashboard Cite

show abstract

“…Remark 2. Some practical systems and physical phenomenon such as Van der Pol circuit, doffing forced oscillation system, robotic manipulators, inverted pendulum, chaotic gyro, micromechanical resonator, DC-DC buck converter, missile-target engagement problem, and probe's landing process on an astronomical body can be described by model in form (8 (9) To fulfill the control object, control inputs must be designed for finite time stabilizing of system (9). In consequence, the tracking errors should exactly reach zero for times larger than a specific finite time .…”

Section: System Description and Problem Statementmentioning

confidence: 99%

“…The finite time stabilizers have been exploited in many practical applications in the recent years [3]. The survey of relevant papers reveals that three main approaches containing direct Lyapunov method [4][5][6][7][8][9], geometric homogeneity based method [10,11], and terminal sliding mode control (TSMC) technique [12][13][14][15] have been proposed and exploited for finite time stabilization of different classes of nonlinear systems.…”

Section: Introductionmentioning

confidence: 99%

“…Most of the finite time control techniques based on this approach [4][5][6][7][8][9], have several shortcomings. As the first deficiency, these techniques are mostly applicable on special classes of single input-single output (SISO) nonlinear systems including double integrator system [2,5,8] and canonical high order nonlinear system [6,7,9]. As the second weakness, most of these methods have been designed the finite time control laws without considering uncertainties and external disturbances.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Free-chattering robust finite time tracking for connected double integrator nonlinear systems

Abooee

Khorasani

Haeri

2016

2016 4th International Conference on Control, Instrumentation, and Automation (ICCIA)

View full text Add to dashboard Cite

In this paper, a new form of generalized nonsingular fast terminal sliding mode control approach is proposed to provide the finite time tracking in connected chain of double integrator nonlinear systems subjected to additive bounded unknown uncertainties, disturbances, and internal interactions. The proposed approach presents an adjustable finite time for achieving the tracking goal which is a summation of two separate tunable times including finite reaching time and finite settling time. Tuning of the total finite time is done by adjusting arbitrary parameters in the control inputs and sliding surfaces. The high frequency switching of the control method is removed by applying a second order generalized nonsingular fast terminal sliding mode control scheme. Keywords-finite time stability; nonsingular fast terminal sliding mode control; finite reaching time; finite settling time; second order nonsingular fast terminal sliding mode control.

show abstract

“…Researchers have not yet found any unified way to handle the problem of global output feedback stabilization because the measure of states is difficult. Fortunately, with the help of nonseparation principle [1], homogeneous domination approach [2], and backstepping method, many interesting results such as [3][4][5][6][7][8][9][10][11] have been achieved.…”

Section: Introductionmentioning

confidence: 99%

Global Output Feedback Stabilization for a Class of Nonlinear Cascade Systems

Liu

Sun

Meng

et al. 2018

Mathematical Problems in Engineering

Self Cite

View full text Add to dashboard Cite

This paper focuses on the problem of global output feedback stabilization for a class of nonlinear cascade systems with timevarying output function. By using double-domination approach, an output feedback controller is developed to guarantee the global asymptotic stability of closed-loop system. The novel control strategy successfully constructs a unified Lyapunov function, which is suitable for both upper-triangular and lower-triangular systems. Finally, two numerical examples are provided to illustrate the effectiveness of a control strategy.

show abstract

A new approach to finite-time adaptive stabilization of high-order uncertain nonlinear system

Cited by 257 publications

References 32 publications

Time‐varying input delay compensation for nonlinear systems with additive disturbance: An output feedback approach

Time‐varying input delay compensation for nonlinear systems with additive disturbance: An output feedback approach

Free-chattering robust finite time tracking for connected double integrator nonlinear systems

Global Output Feedback Stabilization for a Class of Nonlinear Cascade Systems

Contact Info

Product

Resources

About