Adaptive Finite Time Control of Nonlinear Systems Under Time-Varying Actuator Failures

Wang, Fang; Zhang, Xueyi

doi:10.1109/tsmc.2018.2868329

Cited by 152 publications

(89 citation statements)

References 46 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In fact, this paper can be considered as leader-follower synchronous control for networked robotics systems and future work will be devoted to finite-time visual servoing cooperative control without leader. [41][42][43][44][45][46]…”

Section: Resultsmentioning

confidence: 99%

Synchronized adaptive control for coordinating manipulators with time‐varying actuator constraint and uncertain dynamics

Wang

Liu

Chen

et al. 2019

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

Summary This paper addresses the control issue for cooperative visual servoing manipulators on strongly connected graph with communication delays, in which case that the uncertain robot dynamics and kinematics, uncalibrated camera model, and actuator constraint are simultaneously considered. An adaptive cooperative image‐based approach is established to overcome the control difficulty arising from nonlinear coupling between visual model and robot agents. To estimate the coupled camera‐robot parameters, a novel adaptive strategy is developed and its superiority mainly lies in the containment of both individual image‐space errors and the synchronous errors among networked robots; thus, the cooperative performance is significantly strengthened. Moreover, the proposed cooperative controller with a Nussbaum‐type gain is implemented to both globally stabilize the closed‐loop systems and realize the synchronization control objective under the existence of unknown and time‐varying actuator constraint. Finally, simulations are carried out to validate the developed approach.

show abstract

Section: Resultsmentioning

confidence: 99%

Synchronized adaptive control for coordinating manipulators with time‐varying actuator constraint and uncertain dynamics

Wang

Liu

Chen

et al. 2019

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

show abstract

“…Lemma ( ). Considering the system

ż = f (z, u)

, if there exist three scalars c >0 , 0< l <1 , and d >0 for smooth positive definite function V ( z )∈ C 1 , such that

\dot{V} (z) \leq - c V^{l} (z) + d, t \geq 0

then, the system

ż = f (z, u)

is SGPFS .…”

Section: Problem Formulations and Preliminariesmentioning

confidence: 99%

“…On the base of the Lyapunov stability theory in References and , the finite‐time stability issues of nonlinear systems were discussed by many authors . Among them Lv et al and Liu et al designed the control programs for a class of nonlinear systems with hysteretic characteristics Wang et al, Chen et al and Yang et al discussed the finite‐time stability of time‐varying delay systems by adopting more appropriate Lyapunov‐Krasovskii functional Wang et al and Liu et al proposed the finite‐time control schemes for the nonlinear system with actuator failures Liu et al, Gao et al and Li et al investigated several finite‐time tracking control schemes for a class of nonlinear systems with dead‐zone, Wang et al and Zhang et al proposed the adaptive finite‐time control design schemes for a kind of nonlinear quantized systems. It should be noted that the above work does not consider the case where the system output is constrained.…”

Section: Introductionmentioning

confidence: 99%

“…In addition, in comparison with the current literatures on constrained systems, a series of finite‐time control schemes were constructed in References . The control strategies in References cannot ensure that the tracking error always stays in the prescribed proper range. To prevent the violation of output constraints, BLF is used in this article to ensure that the system output is constrained within a specified area and the tracking error remains in a prescribed appropriate bound.…”

Section: Introductionmentioning

confidence: 99%

“…On the base of the Lyapunov stability theory in References 35 and 36, the finite-time stability issues of nonlinear systems were discussed by many authors. [37][38][39][40][41][42][43][44][45][46][47][48][49][50] Among them Lv et al 37 and Liu et al 38 designed the control programs for a class of nonlinear systems with hysteretic characteristics Wang et al, 39 Chen et al 40 It should be noted that the above work [35][36][37][38][39][40][41][42][43][44][45][46][47][48] does not consider the case where the system output is constrained. As far as we know, there are two articles 49,50 on finite-time output-constrained nonlinear systems.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Adaptive finite‐time tracking control for output‐constrained nonlinear systems with non‐strict‐feedback structure

Yan

Wang

Zhang

2020

Adaptive Control & Signal

Self Cite

View full text Add to dashboard Cite

Summary This article investigates the issue of adaptive finite‐time tracking control for a category of output‐constrained nonlinear systems in a non‐strict‐feedback form. First, by utilizing the structural characteristics of radial basis function neural networks (RBF NNs), a backstepping design method is extended from strict‐feedback systems to a kind of more general systems, and NNs are employed to approximate unknown nonlinear functions. In addition, the system output is constrained to the specified region by applying the barrier Lyapunov function (BLF) technique. Furthermore, the finite‐time stability of the system is proved by employing the Bhat and Bernstein theorem. As a result, an adaptive finite‐time tracking control scheme for the output‐constrained nonlinear systems with non‐strict‐feedback structure is proposed by applying RBF NNs, BLF, finite‐time stability theory, and adaptive backstepping technique. It is demonstrated the finite‐time stability of the system, the prescribed convergence of the system output and tracking error, the boundedness of adaptive parameters and state variables. Finally, a simulation example is implemented to illustrate the effectiveness of the presented neural control scheme.

show abstract

Adaptive finite‐time attitude tracking control of quadrotor under actuator faults and external disturbances with guaranteed performance

Xia

Zhai

et al. 2022

Adaptive Control & Signal

View full text Add to dashboard Cite

Summary The problem of attitude tracking control for quadrotor in presence of actuator faults and external disturbances is investigated in this article. By using fast terminal sliding mode control combined with prescribed performance technique, an adaptive control strategy capable of accommodating actuator faults and suppressing external disturbances is designed to achieve attitude finite‐time tracking control with guaranteed performance. In particular, with the help of Nussbaum functions, actuator faults are passively handled without extra development of fault detection and diagnosis mechanism. The finite‐time stability of attitude system under actuator faults and external disturbances is analyzed by Lyapunov stability criterion. Moreover, in order to demonstrate the effectiveness and superiority of proposed control scheme, numerical simulations in different cases are performed and presented in simulation section.

show abstract

Adaptive Finite Time Control of Nonlinear Systems Under Time-Varying Actuator Failures

Cited by 152 publications

References 46 publications

Synchronized adaptive control for coordinating manipulators with time‐varying actuator constraint and uncertain dynamics

Synchronized adaptive control for coordinating manipulators with time‐varying actuator constraint and uncertain dynamics

Adaptive finite‐time tracking control for output‐constrained nonlinear systems with non‐strict‐feedback structure

Adaptive finite‐time attitude tracking control of quadrotor under actuator faults and external disturbances with guaranteed performance

Contact Info

Product

Resources

About