Global stabilization of a chain of integrators with input saturation and disturbances: A new approach

Gayaka, Shreekant; Lu, Lu; Yao, Bin

doi:10.1016/j.automatica.2011.11.012

Cited by 58 publications

(57 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…, x n are bounded over [0,T ], which completes the proof. Remark 3.4: It should be noted that the similar problem is also studied in Gayaka et al (2012), where the bounded control for a chain of integrators with disturbance is considered based upon Teel's theory (Teel, 1992). However, it can be verified that when d(t) = 0, the results in Gayaka et al (2012) are similar to that in this paper.…”

Section: Theorem 32supporting

confidence: 64%

“…Remark 3.4: It should be noted that the similar problem is also studied in Gayaka et al (2012), where the bounded control for a chain of integrators with disturbance is considered based upon Teel's theory (Teel, 1992). However, it can be verified that when d(t) = 0, the results in Gayaka et al (2012) are similar to that in this paper. The main difference between Gayaka et al (2012) and this paper lies in that the disturbance rejection is achieved by tuning parameters in Gayaka et al (2012), while the disturbance rejection in this paper is determined by a DOB and feedforward compensation.…”

Section: Theorem 32supporting

confidence: 64%

“…Meanwhile, most of the existing saturated control methods have not considered the stabilisation problem for the multiple integrators system with disturbance. It is observed from Gayaka, Lu, and Yao (2012) and the references therein that the disturbance rejection property is regulated by tuning the gains of the controller. This control strategy likely brings about some adverse effects, such as overshoot and even instability.…”

Section: Problem Statementmentioning

confidence: 98%

“…This is because the controller given in Zhou and Duan (2007) only includes n/2 saturation functions, and the fewer restrictions on the controller will yield the faster convergence speed for the closed-loop system. However, when the system is subjected to disturbance, as described in Gayaka et al (2012), the coordinatetransformationbased controller may be conservative due to the fact that the disturbance affects all the states although it appears only in the input channel in the original coordinates.…”

Section: Problem Statementmentioning

confidence: 99%

See 3 more Smart Citations

Robust control of multiple integrators subject to input saturation and disturbance

Ding

Zheng

2014

International Journal of Control

View full text Add to dashboard Cite

This paper is concerned with the problem of robust stabilisation of multiple integrators systems subject to input saturation and disturbance from the viewpoint of state feedback and output feedback. First of all, without considering the disturbance, a backstepping-like method in conjunction with a series of saturation functions with different saturation levels is employed to design a nested-saturation based state-feedback controller with pre-chosen parameters. On this basis, taking the disturbance into account, a sliding mode disturbance observer (DOB) is adopted to estimate the states and the disturbance. Then, by combining the above state-feedback controller and the estimated states together, a composite controller with disturbance compensation is developed. With the removal of the non-increasing restriction on the saturation levels, the controller design becomes very flexible and the convergence performance of the closed-loop system is much improved. Meanwhile, with the aid of the estimated values by the DOB, we obtain not only the output-feedback control scheme but also the better disturbance rejection property for the closed-loop system. A simulation example of a triple integrators system is presented to substantiate the usefulness of the proposed technique.

show abstract

Section: Theorem 32supporting

confidence: 64%

Section: Theorem 32supporting

confidence: 64%

Section: Problem Statementmentioning

confidence: 98%

Section: Problem Statementmentioning

confidence: 99%

See 2 more Smart Citations

Robust control of multiple integrators subject to input saturation and disturbance

Ding

Zheng

2014

International Journal of Control

View full text Add to dashboard Cite

show abstract

“…First, it has the difficulty in handling modeling uncertainties and disturbances, which are inherent to any physical control system. 8 Second, it requires large computational amounts. Recently, the modified backstepping approach has attracted great attention 9,10 Modified backstepping approaches provide us a systematic control design scheme for the constrained systems.…”

Section: Introductionmentioning

confidence: 99%

A composite current-constrained control for permanent magnet synchronous motor with time-varying disturbance

Sun

Guo

Yan

et al. 2017

Advances in Mechanical Engineering

View full text Add to dashboard Cite

The problem of overlarge current protection of permanent magnet synchronous motor based on a single-loop control structure is discussed in this article. Under this structure, the previous limiting method of amplitude of q-axis current used in field-oriented control is unsuitable, which limits q-axis current by restricting the output of reference current. Conventional controllers (e.g. proportional-integral-derivative controller) usually cannot have a nice balance between satisfaction of current constraint and requirement of fast dynamic performance. Overlarge current may cause the damage of hardware. Aiming at this issue, a composite controller is proposed. Different from previous methods of state constraints, the effects of disturbance is taken into account of controller design. First, a finite-time current-constrained feedback control technique based on homogeneous approach is applied in the feedback design. Compared with conventional finite-time control, a punishment mechanism of over-current is added into the gain of controller. Second, a generalized proportional integral observer is adopted to estimate the uncertainties and disturbances. The estimated value is used in the feed-forward compensation design. Compared with the conventional proportional-integral-derivative controller and proportional-derivative + extended state observer controller, the proposed method not only limits q-axis current to a safe range but also shows a nice dynamic performance and a strong anti-disturbance ability. Both simulations and experiments are carried out, and the results demonstrate the effectiveness of the proposed control scheme.

show abstract

Attitude control of reusable launch vehicle in reentry phase with input constraint via robust adaptive backstepping control

Wang

Chen

Zong

2015

Adaptive Control & Signal

View full text Add to dashboard Cite

The paper presents an attitude control problem of reusable launch vehicles in reentry phase. The controller is designed based on synthesizing robust adaptive control into backstepping control procedure in the presence of input constraint, model uncertainty, and external disturbance. In view of the coupling between the states of translational motion and the states of attitude motion, the control-oriented model is developed, where the uncertainties do not satisfy linear parameterization assumption. The time derivative of the virtual control input is viewed as a part of uncertain term to facilitate the analytic computations and avoid the 'explosion of terms' problem. The robust adaptive backstepping control scheme is first proposed to overcome the uncertainty and external disturbance. The robust adaptive law is employed to estimate the unknown bound of the uncertain term. Furthermore, the attitude control problem subjects to input constraint is studied, and the constrained robust adaptive backstepping control strategy is proposed. Within the Lyapunov theory framework, the stability analysis of the closed-loop system is carried out, and the tracking error converges to a random neighborhood around origin. Six-degree-of-freedom reusable launch vehicle simulation results are presented to show the effectiveness of the proposed control strategy.

show abstract

Global stabilization of a chain of integrators with input saturation and disturbances: A new approach

Cited by 58 publications

References 20 publications

Robust control of multiple integrators subject to input saturation and disturbance

Robust control of multiple integrators subject to input saturation and disturbance

A composite current-constrained control for permanent magnet synchronous motor with time-varying disturbance

Attitude control of reusable launch vehicle in reentry phase with input constraint via robust adaptive backstepping control

Contact Info

Product

Resources

About