Lyapunov‐based saturated continuous twisting algorithm

Golkani, Mohammad Ali; Seeber, Richard; Reichhartinger, Markus; Horn, Martin

doi:10.1002/rnc.5379

Cited by 2 publications

(2 citation statements)

References 21 publications

(34 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Various other sliding mode control approaches have also been proposed which handle the constraints without using MPC. [55][56][57][58] However, these methods are developed for single input systems, unlike the one proposed in our paper for over-actuated systems.…”

Section: Introductionmentioning

confidence: 99%

“…However, this combination leads to high computational complexity due to the need to solve an optimization problem online. Various other sliding mode control approaches have also been proposed which handle the constraints without using MPC 55‐58 . However, these methods are developed for single input systems, unlike the one proposed in our paper for over‐actuated systems.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Time‐varying sliding mode controller for over‐actuated systems with constrained and uncertain actuators in flight control applications

Tohidi

Yıldız

Kolmanovsky

2022

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

One solution to the problem of distributing the control action among redundant actuators with uncertain dynamics is employing an adaptive control allocator. This paper proposes a sliding mode controller which exploits a time‐varying sliding surface to complement adaptive control allocation in the presence of actuator saturation. The proposed approach does not require error augmentation for tracking desired references, which diminishes the computational burden. Aerodata Model in Research Environment, which is an over‐actuated aircraft model, is adopted to demonstrate the efficacy of the proposed controller in simulation studies.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Time‐varying sliding mode controller for over‐actuated systems with constrained and uncertain actuators in flight control applications

Tohidi

Yıldız

Kolmanovsky

2022

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

show abstract

Conditioned Adaptive Control for an Uncertain Bioreactor with Input Saturation and Steep Settling Desired Output

Rincón

Hoyos²,

Candelo-Becerra³

2022

Symmetry

View full text Add to dashboard Cite

In this work, a controller is developed for a continuous bioreactor with an unknown reaction rate term, subject to input saturation. The substrate concentration and the dilution rate are chosen as output and input, respectively. The controller formulation and the stability analysis are performed by the theory of dead zone Lyapunov functions, Lyapunov stability, and model reference adaptive control. As the main results, the dynamics of the Lyapunov function is determined separately for saturation and non-saturation events, and then a unified expression is deduced. In addition, the asymptotic convergence of the tracking error and boundedness of updated parameters are determined for the whole closed loop regime encompassing saturation and non-saturation events, and also for input saturation events, as a function of the terms and parameters of the reference and system models. The main contributions over closely related control designs, are (i) the effect of input constraint limits and desired output on the convergence of the tracking error during input saturation events are determined, considering settling behavior of the desired output with a steep section; (ii) the upper limit of the input constraint that guarantees output convergence during input saturation events is determined as function of the model terms, but independently of the time derivative of the desired output and its limit; (iii) a new dead zone Lyapunov function is proposed which allows proving asymptotic convergence of the tracking error during input saturation events in the presence of a fast variation in the desired output. Finally, the effectiveness and advantages of the developed controller are illustrated by simulation.

show abstract

Lyapunov‐based saturated continuous twisting algorithm

Cited by 2 publications

References 21 publications

Time‐varying sliding mode controller for over‐actuated systems with constrained and uncertain actuators in flight control applications

Time‐varying sliding mode controller for over‐actuated systems with constrained and uncertain actuators in flight control applications

Conditioned Adaptive Control for an Uncertain Bioreactor with Input Saturation and Steep Settling Desired Output

Contact Info

Product

Resources

About