Optimum Design of Robust Adaptive Controller with Actuator Constraints

Navabi, M.; Mirzaei, Hamidreza; Davoodi, Ali

doi:10.1007/s12555-019-0356-2

Cited by 7 publications

(6 citation statements)

References 22 publications

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“…The following equation can easily be obtained from equations (10b), (16), and (17) _ V a ¼ 0:5φ 1 q e0 q e1 λ 1 À 0:5φ 2 q e3 q e1 λ 1 þ 0:5φ 1 q e2 q e3 λ 2 þ 0:5φ 2 q e0 q e2 λ 2 À 0:5φ 1 q e1 q e3 λ 3 þ 0:5φ 2 q e1 q e3 λ 3 (18) By sorting, we can write…”

Section: Hypersurface Designunclassified

“…Also, many researchers control the underactuated spacecraft using the optimum algorithms. [13][14][15][16] Also, the underactuated spacecraft is stabilized by using model predictive control approach. 17 A robust control by using the H∞ method is introduced by Han et al 18 such that the accuracy of the pointing in the presence of the disturbances is improved.…”

Section: Introductionmentioning

confidence: 99%

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Robust backstepping attitude tracking control of an underactuated spacecraft with saturation and time-variant perturbations

Nadafi

Kabganian

2021

Proceedings of the Institution of Mechanical Engineers, Part G:

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This study investigated associations of attitude tracking control of an underactuated spacecraft with consideration of saturation and perturbations. A nonsingular attitude tracking control was proposed which did not need limiting initial conditions of the quaternions. The controller was analyzed based on Lyapunov criteria and LaSalle’s invariance theorem in the large-angle maneuver. In order to control, the complete kinematic and dynamic model of the underactuated spacecraft was reconstructed. According to simulation results, our controller has excellent robustness against the hard saturation, external disturbances, time-varying inertia uncertainties, and internal disturbances of actuators. As result, we found that the attitude controller was asymptotically stable under the soft saturation and the perturbations so that quaternions and angular velocity converged to the desired path within the 80 s. Also, it was still asymptotic stable under the hard saturation whose level is equal to 0.035 Nm, 3.5% of the soft saturation level. In this case, errors of quaternions and angular velocity were converged to the origin within the 150 s. Finally, the closed-loop system was verified by Adams-MATLAB co-simulation. The maximum verification errors for quaternions were less than 19%, while the maximum verification errors for angular velocity were less than 13.5%.

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Section: Hypersurface Designunclassified

Section: Introductionmentioning

confidence: 99%

Robust backstepping attitude tracking control of an underactuated spacecraft with saturation and time-variant perturbations

Nadafi

Kabganian

2021

Proceedings of the Institution of Mechanical Engineers, Part G:

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“…17 Moreover, robust adaptive sliding mode control of uncertain nonlinear systems has been also proposed with external disturbances and has been extensively applied to deal with many practical engineering systems. [18][19][20] The major advantages of this study include guaranteed stability, avoid chattering phenomena, ensure robustness in the presence of parametric uncertainties and external disturbances, and simplicity in implementation.…”

Section: Introductionmentioning

confidence: 99%

Robust adaptive sliding mode control strategy of uncertain nonlinear systems

Soukkou

Tadjine

Zhu

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part G:

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This paper presents a robust adaptive sliding mode controller scheme as applied to a class of uncertain nonlinear systems with parametric uncertainties and external disturbances. First, a sliding mode control technique is designed. Then, the proposed robust adaptive control schemes are applied to estimate the parametric uncertainties and the upper bound value of the external disturbances by using adaptive laws, ensure robustness in presence of parametric uncertainties and external disturbances, and reduce chattering problem by introducing an hyperbolic tangent function. Lyapunov stability theory is used to analyze the stability of the closed-loop system. As an exemplar, the schemes have been applied to a quadrotor unmanned aerial vehicle (QUAV) model. Simulation results for the control of the QUAV model are provided to illustrate the performance of the proposed robust adaptive sliding mode control scheme and demonstrate that the proposed method has good tracking performance. The simulation results clearly prove the effectiveness of our approach.

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“…Sliding mode control (SMC) is a robust control technology that can effectively deal with system uncertainties and has been studied in robot modeling, 14 robot motion control, 15 and robot system stability analysis. [16][17][18] Jafarov et al 19 took the lead in putting forward PID sliding mode controller with PID sliding mode surface based on sliding mode control, and applied it to a double-chain directly driven robot arm, and achieved satisfactory performance. Efe 20 proposed a parametric adaptive sliding mode control method, simulated the dynamic model of the 2-DOF directly driven robot arm, and obtained good robustness performance.…”

Section: Introductionmentioning

confidence: 99%

Adaptive sliding mode robust control of manipulator driven by tendon-sheath based on HJI theory

Zhang

Wang

et al. 2022

Measurement and Control

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The load side and the motor connected by flexible joints in the manipulators’ joint servo system. During the motion of manipulators driven by tendon-sheath, the status change of the end-effector will result in the change of the load side rotational inertia. The perturbation of the inertia of the load side will result in the modeling mismatch of the servo system. So the modeling uncertainty and the system robustness will decrease. An adaptive sliding mode robust control based on HJI (Hamilton-Jacobi-Issacs) theory is proposed in this paper to improve the robustness of the system. Firstly, according to D-H coordinate method, kinematics and dynamics models of the manipulator are established. Then, the basic strategy of adaptive sliding mode robust control is proposed. The variation of control parameters of a single joint of the manipulator is adjusted to reduce the control cost. Next, the sliding mode control law was established through the design of the Lyapunov function based on the HJI theory. The manipulator dynamics model was taken as the research object. The simulation analysis was conducted in uncertain parameters. Finally, a series of manipulator prototype experiments were carried out to proof our control theory. The experiment results show that our method can better solve the model uncertainty caused by the servo system. The adaptive sliding mode robust control strategy based on HJI theory has lower dependence on accurately modeling and stronger robustness.

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Optimum Design of Robust Adaptive Controller with Actuator Constraints

Cited by 7 publications

References 22 publications

Robust backstepping attitude tracking control of an underactuated spacecraft with saturation and time-variant perturbations

Robust backstepping attitude tracking control of an underactuated spacecraft with saturation and time-variant perturbations

Robust adaptive sliding mode control strategy of uncertain nonlinear systems

Adaptive sliding mode robust control of manipulator driven by tendon-sheath based on HJI theory

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