Finite-time anti-saturation control for Euler–Lagrange systems with actuator failures

Huang, Bing; Zhang, Sai; He, Yushan; Wang, Bo; Deng, Zili

doi:10.1016/j.isatra.2020.08.028

Cited by 34 publications

(18 citation statements)

References 35 publications

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“…8,9 Although there is substantial research that has been undertaken, the problem of model uncertainties is fundamentally ignored in the studies of Fu and Yu 10 and Xiao et al 11 Considering the imprecise model parameters, extensive uncertainties are usually resident in autonomous surface vessels' (ASVs) model dynamics. To enhance ASV systems' adaptation, adaptive control approaches, 7,12,13 NNs, 14,15 and observer technologies [16][17][18] were widely employed. For the path-following problem of a single surface vessel, Wang et al 19 revisited the above problem via a novel adaptive-based NNs strategy, which possesses the disadvantage of enormous weight matrix to be estimated.…”

Section: Introductionmentioning

confidence: 99%

Adaptive formation control for autonomous surface vessels with prescribed-time convergence

Huang

2022

International Journal of Advanced Robotic Systems

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This article is dedicated to solving the problem of predefined-time cooperative control for autonomous surface vessels encountering model uncertainties and external perturbations. By virtue of the prescribed-time stable theory, a robust formation controller is constructed, with which the settling time of the cooperative system can be prescribed in advance. The controller is developed under the backstepping framework, where the dynamic surface control is applied to generate the real-time command. Considering the unmodeled autonomous surface vessel dynamics, the neural network-based nonlinear approximator is incorporated with minimum-learning-parameter technique. Under this scenario, the real-time control can be pursed with one parameter being estimated. Finally, comparative simulation examples are provided to exhibit the effectiveness and advantages of designed control strategies.

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Section: Introductionmentioning

confidence: 99%

Adaptive formation control for autonomous surface vessels with prescribed-time convergence

Huang

2022

International Journal of Advanced Robotic Systems

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“…To this end, the finite-time control that offers an appealing framework for faster convergence rate has been widely studied. [31][32][33] Generally speaking, the classical design tools for achieving finite-time stability are terminal sliding mode control (TSMC) 4,20,[34][35][36] and integral sliding mode control (ISMC). 37 Note that the conventional TSMC has the potential singularity arisen from the derivative of its nonlinear term.…”

Section: Introductionmentioning

confidence: 99%

“…As we can see from the above proof, the SMS (27) has three design parameters K 1 , K 2 and k 3 . According to (32) and ( 37), K 1 is mainly selected to guarantee the stability of the closed-loop system. From ( 28) and ( 29), one observes that smaller K 2 can lead to the larger uniform bounds on the tracking errors and shorter convergence time simultaneously.…”

Section: Introduction Of a Novel Non-singularity Finite-time Smsmentioning

confidence: 99%

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Finite‐time rotation‐matrix‐based tracking control for autonomous underwater vehicle with input saturation and actuator faults

Zhu

Huang

et al. 2021

Intl J Robust & Nonlinear

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This article tackles the finite-time global trajectory tracking control problem of the autonomous underwater vehicle (AUV) in presence of input saturation constraints, actuator faults, unknown dynamics, and external disturbances. First, we describe the orientation of the AUV by rotation matrix instead of classical Euler angle or unit quaternion such that the AUV's dynamics could be globally formulated without singularity and unwinding phenomenon. After that, a smooth dead zone-based model is introduced here to linearize the actuator model, leaving that the adaptive laws could be suitable for the solution of input saturation and actuator faults. Considering that the difficulty of model dynamic acquirement, together with the complicity of rotation-matrix-based representation, would trouble deployment of the controller. The minimum learning parameter technology is thereby utilized to approximated the dynamic nonlinearity of the AUV. On the basis of these, a rotation-matrix-based sliding mode control scheme is technically proposed. It is proved that the tracking errors can be stabilized to a small neighborhood of origin within a settling time. Finally, several set numerical experiments are conducted to assess the effectiveness and show the advantages of the proposed control scheme.

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“…As a classical nonlinear control approach, SMC is celebrated for its antidisturbance capability, easy implementation, and excellent robustness [13][14][15][16]. In [1], SMC-based architecture was established to achieve the trajectory tracking control for HFV, while it comes with the undesired phenomenon of chattering.…”

Section: Introductionmentioning

confidence: 99%

Prescribed Performance Tracking Control for the Hypersonic Vehicle with Actuator Faults

Yang

et al. 2021

International Journal of Aerospace Engineering

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This paper provides a solution for the trajectory tracking control of a hypersonic flight vehicle (HFV), which is encountered performance constraints, actuator faults, external disturbances, and system uncertainties. For the altitude and velocity control subsystems, the backstepping-based dynamic surface control (DSC) strategy is constructed to guarantee the predefined constraint of tracking errors. The introduction of first-order low-pass filters effectively remedies the problem of “complexity explosion” existing in high-order backstepping design. Simultaneously, radial basis function neural networks (RBFNNs) are adopted for approximating the unavailable dynamics, in which the minimum learning parameter (MLP) algorithm brilliantly alleviates the excessive occupation of the computational resource. Specially, in consideration of the unknown actuator failures, the adaptive signals are designed to enhance the reliability of the closed-loop system. Finally, according to rigorous theoretical analysis and simulation experiment, the stability of the proposed controller is verified, and its superiority is exhibited intuitively.

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Finite-time anti-saturation control for Euler–Lagrange systems with actuator failures

Cited by 34 publications

References 35 publications

Adaptive formation control for autonomous surface vessels with prescribed-time convergence

Adaptive formation control for autonomous surface vessels with prescribed-time convergence

Finite‐time rotation‐matrix‐based tracking control for autonomous underwater vehicle with input saturation and actuator faults

Prescribed Performance Tracking Control for the Hypersonic Vehicle with Actuator Faults

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