Performance recovery of a class of uncertain non-affine systems with unmodelled dynamics: an indirect dynamic inversion method

Lin, Shuyi; Yang, Bo; Zhang, Wensheng

doi:10.1080/00207179.2016.1278271

Cited by 9 publications

(22 citation statements)

References 28 publications

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“…In order to verify the effectiveness of the proposed LADRC, consider the modified Van der Pol oscillator [23]…”

Section: Simulation and Experiments A Numerical Simulationsmentioning

confidence: 99%

“…Based on the control design method for feedback linearization systems in [21], an ADRC design method, combining NLESO and dynamic inversion, is proposed for uncertain nonaffine strict-feedback nonlinear systems in [22]. In [23], an indirect dynamic inversion approach is developed for uncertain nonaffine strict-feedback nonlinear systems. However, the model uncertainties estimation provided by EHGO is not used and information of initial states are required in the indirect dynamic inversion approach.…”

Section: Introductionmentioning

confidence: 99%

“…1) We extend the applications of dynamic inversion from feedback linearization systems in [21], [24], [25] to a more general nonaffine systems with strict feedback form. 2) Compared with the indirect dynamic inversion approach for strict-feedback nonlinear systems in [23], a novel design method is proposed, where the uncertainties estimation of the system is adopted effectively and the requirements of the initial states can be removed. The stability and performance analysis for the multi-time-scale structure is rigorously studied via the singular perturbation method.…”

Section: Introductionmentioning

confidence: 99%

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Linear Active Disturbance Rejection Control for Nonaffine Strict-Feedback Nonlinear Systems

et al. 2019

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This paper presents a linear active disturbance rejection controller (LADRC) for nonaffine nonlinear systems with strict-feedback form. The proposed LADRC results in a closed-loop system with a three-time-scale structure, in which a reduced-order linear extended state observer estimates unmeasured states and total disturbance in the fastest time scale and dynamic inversion based on sector conditions is used to deal with nonaffine inputs in the intermediate time scale while the system dynamics evolves in the slowest time scale. The singular perturbation method is used to analyze the stability and performance of the system. The effectiveness of the proposed LADRC is demonstrated through simulation studies and experimental validation on a linear motor servo system with nonaffine uncertainties.INDEX TERMS Active disturbance rejection control, dynamic inversion, reduced-order extended state observer, uncertain nonlinear system.

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“…In order to verify the effectiveness of the proposed LADRC, consider the modified Van der Pol oscillator [23]…”

Section: Simulation and Experiments A Numerical Simulationsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Linear Active Disturbance Rejection Control for Nonaffine Strict-Feedback Nonlinear Systems

et al. 2019

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“…e study of complex nonlinear systems governed by differential equations has attracted considerable attention [1][2][3][4]. It is worth noting that in the real world, there are many nonaffine nonlinear systems, such as certain flight control systems [5,6], tank reactor system [7,8], biochemical processes [9,10], and carrier landing control systems for unmanned aerial vehicles [11]. e study of nonaffine systems is often much more difficult and complicated than that of affine ones because control inputs always appear implicitly in the nonlinear functions [7], and finding the explicit inversion of nonaffine functions is quite difficult, even when the existence of such nonlinear function inversion can be proved using the implicit function theorem [5,9].…”

Section: Introductionmentioning

confidence: 99%

“…It is worth noting that in the real world, there are many nonaffine nonlinear systems, such as certain flight control systems [5,6], tank reactor system [7,8], biochemical processes [9,10], and carrier landing control systems for unmanned aerial vehicles [11]. e study of nonaffine systems is often much more difficult and complicated than that of affine ones because control inputs always appear implicitly in the nonlinear functions [7], and finding the explicit inversion of nonaffine functions is quite difficult, even when the existence of such nonlinear function inversion can be proved using the implicit function theorem [5,9]. On the other hand, in practical applications, uncertainties often arise owing to the presence of unknown parameter variations, modeling simplifications, unmodeled dynamics, and external disturbances, among others [12][13][14].…”

Section: Introductionmentioning

confidence: 99%

Characteristic Model-Based Adaptive Control for a Class of MIMO Uncertain Nonaffine Nonlinear Systems Governed by Differential Equations

Duoqing

2020

Complexity

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This paper addresses the difficulty of designing a controller for a class of multi-input multi-output uncertain nonaffine nonlinear systems governed by differential equations. We first derive the first-order characteristic model composed of a linear time-varying uncertain system for such nonaffine systems and then design an adaptive controller based on this first-order characteristic model for position tracking control. The designed controller exhibits a simple structure that can effectively avoid the controller singularity problem. The stability of the closed-loop system is analyzed using the Lyapunov method. The effectiveness of our proposed method is validated with a numerical example.

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A novel redesign framework to extend the application scope of a class of disturbance‐rejection algorithms

Hao

Pei

2019

Intl J Robust & Nonlinear

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Summary In this paper, a novel redesign method is developed for a class of disturbance‐rejection algorithms so that they can be applied to pure‐feedback nonaffine‐in‐control nonlinear systems with matched and mismatched disturbances. First, a series of augmented dynamical equations, which evolve faster than the original system, are constructed to establish a boundary‐layer subsystem to derive the virtual and actual inputs for the nominal system. Then, the composite interconnected system is studied in the standard singular perturbed form. In the slow timescale, the reduced slow subsystem (RSS) is transformed into the chain of integrators form in the error coordinate, for which the existing antidisturbance methods can be employed. The tracking performance of the closed‐loop system is approximated by RSS under singular perturbation theory. The proposed redesign method is adopted to three existing disturbance‐rejection algorithms for a pure‐feedback nonaffine‐in‐control numerical example in the presence of matched and mismatched disturbances. The effectiveness is demonstrated by simulation experimental results.

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Performance recovery of a class of uncertain non-affine systems with unmodelled dynamics: an indirect dynamic inversion method

Cited by 9 publications

References 28 publications

Linear Active Disturbance Rejection Control for Nonaffine Strict-Feedback Nonlinear Systems

Linear Active Disturbance Rejection Control for Nonaffine Strict-Feedback Nonlinear Systems

Characteristic Model-Based Adaptive Control for a Class of MIMO Uncertain Nonaffine Nonlinear Systems Governed by Differential Equations

A novel redesign framework to extend the application scope of a class of disturbance‐rejection algorithms

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