Guaranteeing preselected tracking quality for uncertain strict-feedback systems with deadzone input nonlinearity and disturbances via low-complexity control

Theodorakopoulos, Achilles; Rovithakis, George A.

doi:10.1016/j.automatica.2015.01.038

Cited by 108 publications

(45 citation statements)

References 28 publications

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“…The parameter k i j 0 is chosen such that

false| z_{i j} false(0 false) false| \leq k_{i j} false(0 false), i = 1, …, n, j = 1, …, m,

where z i j ( t ) denotes the j th element of z i ( t ) defined in and . It is noteworthy that is a precondition to implement prescribed performance control (see other works).…”

Section: System Description and Problem Formulationmentioning

confidence: 99%

Low‐complexity adaptive tracking control of MIMO nonlinear systems with unknown control directions

Zhang

Yang

2019

Intl J Robust & Nonlinear

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Summary This paper is concerned with the tracking control problem for a class of multiple‐input–multiple‐output systems with unmatched disturbances and the unknown additive and multiplicative nonlinearities. The objective is to provide a low‐complexity control solution in the sense that (i) approximating structures are not involved, despite unknown nonlinearities and (ii) iterative calculations of command derivatives are avoided in the backstepping design. A robust adaptive control strategy is proposed to fulfill the task. In the control design, a new‐type adaptive law is first developed to update Nussbaum gains to handle control direction uncertainties, while ensuring Nussbaum gains bounded. Then, the potential robustness of error constraint techniques is exploited to counteract the effects of unknown nonlinearities and disturbances and achieve predefined transient and steady‐state tracking performance. Finally, simulation results are given to illustrate the above theoretical findings.

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“…The parameter k i j 0 is chosen such that

false| z_{i j} false(0 false) false| \leq k_{i j} false(0 false), i = 1, …, n, j = 1, …, m,

where z i j ( t ) denotes the j th element of z i ( t ) defined in and . It is noteworthy that is a precondition to implement prescribed performance control (see other works).…”

Section: System Description and Problem Formulationmentioning

confidence: 99%

Low‐complexity adaptive tracking control of MIMO nonlinear systems with unknown control directions

Zhang

Yang

2019

Intl J Robust & Nonlinear

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“…The above observations reveal that the method used in the analysis is not the traditional backstepping approach. Such a method is also adopted in other works …”

Section: Stability Analysismentioning

confidence: 99%

Adaptive prescribed performance control of nonlinear output‐feedback systems with unknown control direction

Zhang

Yang

2018

Intl J Robust & Nonlinear

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Summary This paper focuses on the output‐feedback tracking control problem for a class of nonlinear systems with both unknown nonlinearities and unknown control directions. An adaptive prescribed performance controller combined with a Nussbaum gain and a dividing line is proposed to solve the problem. Compared with the existing results, (i) both the convergence rate and the ultimate bound of the tracking error can be prescribed; (ii) no approximating structures such as neuro/fuzzy systems are used, regardless of unknown nonlinear functions; and (iii) the computational burden is alleviated in the sense that the iterative calculation of command derivatives is avoided and the number of online learning parameters is largely reduced. Simulation results are given to further illustrate the established theoretical findings.

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“…As a remedy, a prescribed performance control approach was established in Bechlioulis and Rovithakis (2008). This approach has been further extended to various uncertain nonlinear systems (Bechlioulis & Rovithakis, 2009Hua et al, 2014;Hua, Zhang, & Guan, 2015;Theodorakopoulos & Rovithakis, 2015;Tong, Sui, & Li, 2015b). Recently, FTC research results for strict-feedback nonlinear systems have appeared in conjunction with the prescribed performance technique (Wang & Wen, 2010;Yoo, 2013;Zhai, An, Li, & Zhang, 2015).…”

Section: Introductionmentioning

confidence: 98%

Robust fault-tolerant prescribed performance tracking for uncertain switched pure-feedback nonlinear systems under arbitrary switching

Lee

Yoo

2016

International Journal of Systems Science

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This paper presents a model-free prescribed performance design methodology for the robust fault-tolerant tracking (RFTT) of uncertain switched pure-feedback nonlinear systems under arbitrary switching. Unexpected faults in switched non-affine nonlinearities and in an actuator are considered. Using the prescribed performance design and the common Lyapunov function method, a common RFTT scheme is proposed to ensure that the tracking error remains within preassigned performance bounds and finally converges to a preselected neighbourhood of the origin, regardless of arbitrary switching and unexpected faults. Contrary to existing results in the literature, the proposed methodology does not require fault compensation mechanisms such as adaptive techniques and function approximators using neural networks or fuzzy systems. Thus, the structure of the proposed RFTT scheme is simpler than that of the existing control schemes. Moreover, the proposed approach can predesign the transient performance bounds at the instants when switching and faults occur. Finally, the simulation results are provided to demonstrate the effectiveness of the proposed theoretical approach.

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Guaranteeing preselected tracking quality for uncertain strict-feedback systems with deadzone input nonlinearity and disturbances via low-complexity control

Cited by 108 publications

References 28 publications

Low‐complexity adaptive tracking control of MIMO nonlinear systems with unknown control directions

Low‐complexity adaptive tracking control of MIMO nonlinear systems with unknown control directions

Adaptive prescribed performance control of nonlinear output‐feedback systems with unknown control direction

Robust fault-tolerant prescribed performance tracking for uncertain switched pure-feedback nonlinear systems under arbitrary switching

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