Adaptive Fuzzy Output-Feedback Control for Switched Nonlinear Systems With Stable and Unstable Unmodeled Dynamics

Lyu, Ziliang; Liu, Zhi; Xie, Kan; Chen, C. L.Philip; Zhang, Yun

doi:10.1109/tfuzz.2019.2922165

Cited by 59 publications

(10 citation statements)

References 67 publications

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“…The inequality (105) implies that if the LMI constraint (92) holds, then (104) holds. Using (21) and performing a similar process, the LMI constraint (93) is also obtained. Now, the equivalent form of inequality ( 22) is proved.…”

Section: Fundingmentioning

confidence: 99%

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Robust H∞ based model predictive control for Lipschitz nonlinear switched systems under asynchronous switching

Rahdan

Abedi

2022

Preprint

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This paper proposes an asynchronous robust H∞ model predictive control scheme for discretetime Lipschitz nonlinear switched systems. It is assumed that there exist some mismatches between the switching of the subsystems and the controllers. For this purpose, two different types of cost functions have to be minimized, including the cost function with the finite horizon in the mismatched intervals and with the infinite horizon in the matched intervals. The control scheme is developed based on the multiple Lyapunov functions and persistent dwell time switching signal to ensure the H∞ performance. Therefore, conservative aspects of the other model predictive methods developed based on the common Lyapunov function and arbitrary switching signals are treated. Due to the online framework of the suggested strategy, fewer constraints have to be resolved simultaneously. So, there will be fewer feasibility problems and unexpected variations issues compared to offline methods, which are widely used in the literature of switched systems. The non-convex control scheme is formulated as an optimization problem in the framework of linear matrix inequality, as well as the optimal values of some parameters are obtained. Finally, a numerical example is developed, and the performance of the proposed scheme is evaluated.

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Section: Fundingmentioning

confidence: 99%

“…As mentioned above, the time-dependent switching signal has attracted much attention, and many articles have addressed it, such as [13]- [16] for linear systems and [17]- [21] for nonlinear systems. These studies imply that most control schemes are developed based on offline approaches.…”

Section: Introductionmentioning

confidence: 99%

Robust H∞ based model predictive control for Lipschitz nonlinear switched systems under asynchronous switching

Rahdan

Abedi

2022

Preprint

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“…However, modeling a nominal FJM usually neglects some indescribable factors, which are mainly sorted as unmodeled dynamics and dead zone. If they are ignored in the controller design, the designed control system may not achieve good control performance or even be unstable 14,15 . Thus, in order to achieve good control performance for the FJM with unmodeled dynamics and dead zone, we should design a controller to overcome these factors.…”

Section: Introductionmentioning

confidence: 99%

Tracking control of single‐link flexible‐joint manipulator with unmodeled dynamics and dead zone

Yan

Lai

Meng

et al. 2020

Intl J Robust & Nonlinear

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This article presents a tracking control approach for a flexible‐joint manipulator (FJM) with single link. This approach can achieve the tracking control objective and reject the influences caused by unmodeled dynamics and dead zone. The main contributions are: (1) a robust tracking control approach for the FJM with single link based on equivalent‐input‐disturbance (EID) method is proposed; (2) the unmodeled dynamics and dead zone are considered simultaneously in the tracking control of the FJM with single link; (3) in the control process, velocity measurements are not required in our approach. The robust stability of the EID‐based approach is proved, and the validity for the FJM with single link is illustrated by simulation results.

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“…In [46], 3-D longitudi-66 nal and transverse vibrations of flexible risers with bending 67 couplings were suppressed via boundary simultaneous con-68 trollers. However, note that the above-mentioned approaches 69 were confined to suppress vibrations, which are invalid 70 This article is laid out as follows: a dynamical model 126 of the system and preliminaries are arranged in Section II.…”

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confidence: 99%

“…358 To address this issue, the approaches in [50] will be employed 359 in the next step. Moreover, an issue about communication limit 360 in actuator is ignored in this article, and we will cope with it 361 with recourse to the technique in [69]-[71].…”

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confidence: 99%

Adaptive Inverse Control of a Vibrating Coupled Vessel-Riser System With Input Backlash

Zhao

et al. 2021

IEEE Trans. Syst. Man Cybern, Syst.

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This article involves the adaptive inverse control of 1 a coupled vessel-riser system with input backlash and system 2 uncertainties. By introducing an adaptive inverse dynamics of 3 backlash, the backlash control input is divided into a mis-4 match error and an expected control command, and then a 5 novel adaptive inverse control strategy is established to elim-6 inate vibration, tackle backlash, and compensate for system 7 uncertainties. The bounded stability of the controlled system 8 is analyzed and demonstrated by exploiting the Lyapunov's 9 criterion. The simulation comparison experiments are finally 10 presented to verify the feasibility and effectiveness of the control 11 algorithm. 12 Index Terms-Adaptive inverse control, boundary control, 13 flexible risers, input backlash, vibration control. 14 I. INTRODUCTION 15 A DAPTIVE control as a common method for handling 16 parametric uncertainty, provides techniques and algo-17 rithms for parameter estimation and is introduced in many 18 literatures [1]-[6]. In recent decades, significant advance-19 ments in adaptive control for the nonlinear systems have 20 been documented. To list some, in [7] and [8], switched 21 nonlinear systems were stabilized by developing an adap-22 tive neural tracking control and the semiglobal boundedness 23 was ensured. In [9]-[11], an adaptive finite-time convergence 24 Manuscript o f o f d d e. for flexible riser systems with nonsmooth input nonlinear 71 constraints. 72 In recent years, significant attention has focused on con-73 trol of nonlinear systems subject to input nonlinearities, such 74 as backlash, deadzone, saturation, and hysteresis [47]-[53], 75 which are common and tough issues in mechanical 76 connections, piezoelectric translators, and hydraulic servo 77 valves [54]-[56]. Recently, boundary control has achieved 78 rapid development on handling the input constraints in flex-79 ible riser systems [57]-[59]. In [60], an input-restricted riser 80 system was significantly stabilized by using anti-saturation 81 vibration control strategies. In [57], backstepping technique 82 was employed to construct an adaptive control for riser 83 systems to resolve the oscillation elimination, input saturation, 84 and output constraint. Further, anti-saturation control strate-85 gies were presented to restrain the oscillation of flexible risers 86 with input constraint by introducing the Nussbaum function 87 in [58]. Note that the chattering phenomenon caused by the 88 discontinuous sign function in [57] was removed. In [59], 89 hybrid input deadzone and saturation constraint issue in the 90 riser system was addressed by exploiting the auxiliary function 91 to propose a boundary control law. However, in the aforemen-92 tioned research, the design was confined to eliminate vibration, 93 tackle input saturation, or eliminate mixed input deadzone and 94 saturation in the riser system. 95 However, the effect of the input backlash nonlinearity char-96 acteristic was not considered in these mentioned literatures. 97 Backlash, which describ...

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Adaptive Fuzzy Output-Feedback Control for Switched Nonlinear Systems With Stable and Unstable Unmodeled Dynamics

Cited by 59 publications

References 67 publications

Robust H∞ based model predictive control for Lipschitz nonlinear switched systems under asynchronous switching

Robust H∞ based model predictive control for Lipschitz nonlinear switched systems under asynchronous switching

Tracking control of single‐link flexible‐joint manipulator with unmodeled dynamics and dead zone

Adaptive Inverse Control of a Vibrating Coupled Vessel-Riser System With Input Backlash

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