Dynamic surface control of nonlinear systems

Darbha, Swaroop; Gerdes, J. Christian; Yip, Pak; Hedrick, J. Karl

doi:10.1109/acc.1997.612013

Cited by 248 publications

(152 citation statements)

References 11 publications

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“…For future development, we can use another robust nonlinear control technique called dynamic surface control (DSC) [17]. The DSC method is basically composed of an MSS and a series of first-order low-pass filters.…”

Section: Discussionmentioning

confidence: 99%

Multiple Sliding Surface Control Approach to Twin Rotor MIMO Systems

Van¹,

Hyun²

2014

International Journal of Fuzzy Logic and Intelligent Systems

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In this paper, a multiple sliding surface (MSS) controller for a twin rotor multi-input-multioutput system (TRMS) with mismatched model uncertainties is proposed. The nonlinear terms in the model are regarded as model uncertainties, which do not satisfy the standard matching condition, and an MSS control technique is adopted to overcome them. In order to control the position of the TRMS, the system dynamics are pseudo-decomposed into horizontal and vertical subsystems, and two MSSs are separately designed for each subsystem. The stability of the TRMS with the proposed controller is guaranteed by the Lyapunov stability theory. Some simulation results are given to verify the proposed scheme, and the real time performances of the TRMS with the MSS controller show the effectiveness of the proposed controller.

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Section: Discussionmentioning

confidence: 99%

Multiple Sliding Surface Control Approach to Twin Rotor MIMO Systems

Van¹,

Hyun²

2014

International Journal of Fuzzy Logic and Intelligent Systems

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“…(39) are fed through second order low pass filters to produce the actual intermediate controls x i+1,r , u and their derivatives. 25 The use of command filters avoids the tedious analytical calculations of the derivatives of the intermediate control in subsequent design steps. An additional advantage is that the filters can be used to enforce magnitude or rate limits on the intermediate states and control.…”

Section: Iiib Control Law Designmentioning

confidence: 99%

Immersion and Invariance Based Nonlinear Adaptive Flight Control

Sonneveldt

Oort

Chu

et al. 2010

AIAA Guidance, Navigation, and Control Conference

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In this paper a theoretical framework for nonlinear adaptive flight control is developed and applied to a simplified, over-actuated nonlinear fighter aircraft model. The framework is based on a modular adaptive backstepping scheme with a new type of nonlinear estimator. The nonlinear estimator is constructed using an invariant manifold based approach which allows for prescribed dynamics to be assigned to the estimation error. Attractivity of the manifold is ensured with the addition of dynamic scaling factors and output filters to the design procedure. The properties of the estimator can be exploited by designing a command filtered backstepping control law that renders the closed-loop system input-tostate stable with respect to the parameter estimation error. It is demonstrated that the resulting modular adaptive controller is easier to tune compared to controllers obtained using the classical adaptive backstepping approaches. Furthermore, the performance of the adaptive controller does not suffer from unpredictable dynamical behavior of the parameter update laws. This is illustrated in numerical simulations where several types of realistic failures are introduced in the aircraft model.

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“…However, a drawback with the backstepping technique is the problem of "explosion of complexity" [9][10][11]. That is, the complexity of controller grows drastically as the order of the system increases.…”

Section: Introductionmentioning

confidence: 98%

Dynamic Surface Control for a Class of Nonlinear Systems in the Presence of Input Saturation

Liu

2015

Proceedings of the 2015 Chinese Intelligent Automation Conference

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In this technical note, we present a novel control approach based on dynamic surface for single input nonlinear systems in the presence of input saturation. The control algorithm is constructed by introducing first-order filtering of the virtual input at each step of the traditional backstepping approach. To deal with the problem of input saturation, we incorporate a new auxiliary design system and Nussbaum gain functions into the control scheme. Compared with the early backstepping approach, the dynamic surface control scheme has greatly simplified the design process. It is proved that the global stability of the closed-loop system can be guaranteed by the proposed control algorithm.

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Dynamic surface control of nonlinear systems

Cited by 248 publications

References 11 publications

Multiple Sliding Surface Control Approach to Twin Rotor MIMO Systems

Multiple Sliding Surface Control Approach to Twin Rotor MIMO Systems

Immersion and Invariance Based Nonlinear Adaptive Flight Control

Dynamic Surface Control for a Class of Nonlinear Systems in the Presence of Input Saturation

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