Lyapunov-based adaptive control design for a class of uncertain MIMO nonlinear systems

Wang, Z.; Behal, Aman; Xian, Bin; Chen, J.

doi:10.1109/isic.2011.6045409

Cited by 3 publications

(5 citation statements)

References 30 publications

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“…The function V & can be made negative definite for ∈ chosen sufficiently small and hence we can conclude that system satisfies exponential stability (Wang et al, 2011).…”

Section: Ajasmentioning

confidence: 96%

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Stabilized Controller Design for Attitude and Altitude Controlling of Quad-Rotor Under Disturbance and Noisy Conditions

Tanveer

Ahmed

Hazry

et al. 2013

American Journal of Applied Sciences

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This article presents a control approach to obtain the better stabilization in attitude and altitude of quad-rotor under different disturbance conditions. In the standard Quad-rotor rotor type UAV, controlling of attitude and altitude is one of the most critical tasks and appropriate controller for stabilization of UAV is essential and necessary. These two controls under various conditions of disturbances was a field of research stimulating for the researchers. The controller proposed is contingent on the PID feedback structure with Extended Kalman Filter (EKF). From Lyapunov Stability Theorem, it is proved that quad-rotor proposed altitude control system is asymptotic as well exponentially stability. Extended Kalman Filter (EKF) is used to filter out the sensors and system noises. Finally, the simulations carried out on MATLAB and the result proved the effectiveness of proposed recommended method for stabilization of attitude and altitude of quad-rotor.

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“…The function V & can be made negative definite for ∈ chosen sufficiently small and hence we can conclude that system satisfies exponential stability (Wang et al, 2011).…”

Section: Ajasmentioning

confidence: 96%

“…Since this system is a linear system, we can determine stability by examining the poles of the system. Wang et al (2011), the Jacobian matrix for the system is Equation (34):…”

Section: Ajasmentioning

confidence: 99%

Stabilized Controller Design for Attitude and Altitude Controlling of Quad-Rotor Under Disturbance and Noisy Conditions

Tanveer

Ahmed

Hazry

et al. 2013

American Journal of Applied Sciences

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“…An adaptive neural controller for MIMO systems with block triangular form was proposed in Gee and Wang (2004). Recently, in Wang, Chen, and Behal (2010), Wang, Behal, Xian, andChen (2011), and, researchers have proposed robust-and adaptive-type controller formulations for the MIMO nonlinear systems of the following form:…”

Section: Introductionmentioning

confidence: 99%

“…Recently, [11], [12], [13] have proposed robust and adaptive type controllers for the MIMO nonlinear systems of the form…”

Section: Introductionmentioning

confidence: 99%

“…Specifically in [11], authors have extended the work of [14] by redesigning the controller of [15] removing an algebraic loop and potential singularity in their previous design and obtained a global Uniformly Ultimately Bounded (UUB) tracking error performance. In [12], an adaptive controller that ensures asymptotic error tracking has been proposed. Recently, a continuous robust controller achieving semi-globally asymptotic tracking performance for uncertain MIMO systems of the form (1) with two degrees of freedom was proposed in [13].…”

Section: Introductionmentioning

confidence: 99%

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An asymptotically stable robust controller formulation for a class of MIMO nonlinear systems with uncertain dynamics

Bıdıklı

Tatlıcıoğlu

Zergeroğlu

et al. 2015

International Journal of Systems Science

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In this work, we present a novel continuous robust controller for a class of multi-input/multi-output nonlinear systems that contains unstructured uncertainties in their drift vectors and input matrices. The proposed controller compensates uncertainties in the system dynamics and achieves asymptotic tracking while requiring only the knowledge of the sign of the leading principal minors of the input gain matrix. A Lyapunov-based argument backed up with an integral inequality is applied to prove the asymptotic stability of the closed-loop system. Simulation results are presented to illustrate the viability of the proposed method.Keywords: nonlinear uncertain dynamical systems; multi-input/multi-output systems; robust control; Lyapunov methods Nomenclature x(t) System states x (i) (t) ith-order time derivative of x(t) H(·), h(·) Functional containing uncertain components G(·), g(·)Real-valued matrix with nonzero leading principal minors τ (t), τ 1 (t), τ 2 (t) Control inputs X(t) Combined state vector S(X) Symmetric positive definite matrix D Diagonal matrix with entries ±1 U(X) Unity upper triangular matriẋ τ (t) Time derivative of control input ϕ (X, x (n) ) Auxiliary function m Positive bounding constant m (X) Positive non-decreasing bounding function x r (t) Reference trajectory e 1 (t) Output tracking error e i (t) Auxiliary error signals for i = 2, . . ., n r(t) Filtered error signal a i, j Positive-valued coefficients generated via a Fibonacci number series I m m × m identity matrix 0 m × 1

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Lyapunov-based output feedback control of hypersonic vehicle

Jia

2014

2014 IEEE 3rd International Conference on Cloud Computing and Intelligence Systems

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Lyapunov-based adaptive control design for a class of uncertain MIMO nonlinear systems

Cited by 3 publications

References 30 publications

Stabilized Controller Design for Attitude and Altitude Controlling of Quad-Rotor Under Disturbance and Noisy Conditions

Stabilized Controller Design for Attitude and Altitude Controlling of Quad-Rotor Under Disturbance and Noisy Conditions

An asymptotically stable robust controller formulation for a class of MIMO nonlinear systems with uncertain dynamics

Lyapunov-based output feedback control of hypersonic vehicle

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