Adaptive prescribed performance control of switched MIMO uncertain nonlinear systems subject to unmodeled dynamics and input nonlinearities

Malek, Sayyed Alireza; Shahrokhi, Mohammad; Vafa, Ehsan; Moradvandi, Ali

doi:10.1002/rnc.4352

Cited by 39 publications

(25 citation statements)

References 44 publications

(99 reference statements)

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“…Recently, many researchers have been studying the prescribed performance control (PPC) method [12][13][14][15][16][17][18]. e idea is to transform the restriction problem of an original system into the stability problem of an equivalent system by using the performance function and transformation function.…”

Section: Introductionmentioning

confidence: 99%

Finite Time Prescribed Performance Control for Uncertain Second‐Order Nonlinear Systems

Xiang

Zhu

2022

Journal of Mathematics

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In this article, we discuss the finite time stability problem for second-order systems with an uncertain nonlinear function. A finite time performance function with the sinusoidal function is constructed, and the constrained problem of the original system is transformed into the stability problem of the equivalent system. Combining prescribed performance control and fuzzy logic systems, an effective control method is proposed. The simulation results also prove that the method we adopted is effective.

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Section: Introductionmentioning

confidence: 99%

Finite Time Prescribed Performance Control for Uncertain Second‐Order Nonlinear Systems

Xiang

Zhu

2022

Journal of Mathematics

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“…In Reference 31, a unified approach has been proposed to deal with three types of input nonlinearities namely, hysteresis, dead‐zone, and backlash. In References 32,33, it has been shown that the method of Reference 31 can be used to handle input saturation as well. However, there is no published work that takes into account different types of input nonlinearities for state‐constrained systems.…”

Section: Introductionmentioning

confidence: 99%

Observer‐based controller for nonaffine time‐delayed systems subject to input nonlinearities, state constraints, and unknown control direction

Mohit

Shahrokhi

Kamalamiri

2022

Adaptive Control & Signal

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In this work, an adaptive observer-based control scheme has been designed for uncertain nonaffine nonstrict feedback systems subject to state time delay, various types of input nonlinearities, time-varying asymmetric state constraints, and unknown control direction. Compared to the existing controllers for systems with state constraints, the designed control scheme in this work can be applied to state-constrained systems with nonaffine structure subject to state delays, unknown control direction, and different types of input nonlinearities, while full-states measurement is not required. Moreover, by introducing a novel saturated Nussbaum function in the present work, not only has the problem of unknown control direction been handled, but also the probability of a control shock due to applying the conventional Nussbaum functions has been eliminated. The system unknown dynamics has been approximated by using neural networks (NNs), and by updating the maximum norm of NNs weight vectors, only one adaptive law is required for the controller implementation. By employing appropriate Lyapunov functions, it has been shown that all signals in the closed-loop system are bounded, state constraints are satisfied, and the output tracking error can be made small by selecting appropriate design parameters.The effectiveness of the designed control scheme has been shown through two simulation studies. Moreover, the superiority of the proposed saturated Nussbaum function in comparison with conventional Nussbaum functions has been shown via simulation. K E Y W O R D Sinput nonlinearity, intelligent approximator, nonstrict feedback systems, state constraints, unknown control direction INTRODUCTIONRecently, control of systems with constraints has attracted a great deal of attention because many real systems are subject to constraints such as wheeled mobile robotic systems 1 and chemical processes. 2 Constraints may appear as physical restrictions, performance requirements, or safety considerations. 3 Input, state, and output constraints are the three major types of constraints investigated in the literature. For example, an adaptive controller has been designed for a class of 2122

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“…They are widely used in the modeling of physical systems in the form of differential or difference equations . In the past 20 years, researches on switched systems mainly focus on asymptotic stability analysis, which belongs to qualitative analysis in an infinite time interval . However, in some cases, only considering asymptotic stability does not necessarily satisfy systems requirements, such as systems with limitation of operation time and requirements for transient quantitative analysis.…”

Section: Introductionmentioning

confidence: 99%

Finite‐time boundedness of switched systems with time‐varying delays via sampled‐data control

Lin

Zhang

Yang

et al. 2020

Intl J Robust & Nonlinear

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In the framework of sampled-data control, finite-time boundedness (FTB) of switched systems with time-varying delays is investigated. Sufficient conditions for FTB of switched systems with time-varying delays via sampled-data control are proposed. Moreover, considering the relationship between the sampling period and the mode-dependent average dwell time, switching signals are designed. In addition, finite-time weighted L 2 -gain (FTW-L 2 -gain) of switched systems with time-varying delays is proposed to measure their disturbance tolerance capacity within a finite-time interval. Multiple Lyapunov-Krasovskii functionals are applied to complete subsequent proofs in detail. Simulation results are exemplified to verify the proposed method. K E Y W O R D S finite-time boundedness, multiple Lyapunov-Krasovskii functionals, sampled-data control, switched systems1 Int J Robust Nonlinear Control. 2020;30:2953-2976. wileyonlinelibrary.com/journal/rnc © 2020 John Wiley & Sons, Ltd. 2953 2954 LIN et al.dynamics, time-varying delays, and exogenous disturbances in switched systems, research on FTB of switched systems with time-varying delays is not a trivial work. With the development of digital technologies and computers, sampled-data controllers are widely used in practice because of advantages of not resulting in degradation of the closed-loop performance and saving the data transmission amount. 21 Based on previous researches, FTB of switched systems with time-varying delays from sampled-data control perspective is to be further investigated to meet the requirements of practical applications. To make resultant closed-loop systems FTB, corresponding controller is usually designed to match with each subsystem. However, when sampled-data controllers are used for switched systems, the active switched subsystem and the matched sampled-data controller may produce mismatched, resulting in inconsistency between the plant mode and the controller mode. 22 This kind of mode mismatching, which is an important subject in the research field of switched systems, 23-27 will produce complex state trajectories and increase complexity of FTB analysis. Therefore, in this note, to implement FTB of switched system with time-varying delays via sampled-data control, it is necessary to conduct in-depth study on the issue about asynchronous switching caused by sampled-data control.It is well known that switching signals have an important impact on FTB of switched systems. [28][29][30] At present, average dwell time (ADT) method is mostly used in the researches of switched systems. [31][32][33][34] The minimum of admissible ADT is determined by two parameters unrelated to the mode. 35,36 In ADT method, switching signals occur during the running time of subsystems, and the design of common parameters is conservative to some extent. The mode-dependent ADT (MDADT) method discussed in References 37 and 38-40 combines switching conditions with certain control gains related constraints to avoid the conservatism of the ADT method. Therefore, in this articl...

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Adaptive prescribed performance control of switched MIMO uncertain nonlinear systems subject to unmodeled dynamics and input nonlinearities

Cited by 39 publications

References 44 publications

Finite Time Prescribed Performance Control for Uncertain Second‐Order Nonlinear Systems

Finite Time Prescribed Performance Control for Uncertain Second‐Order Nonlinear Systems

Observer‐based controller for nonaffine time‐delayed systems subject to input nonlinearities, state constraints, and unknown control direction

Finite‐time boundedness of switched systems with time‐varying delays via sampled‐data control

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