Prescribed Performance Constraint Regulation of Electrohydraulic Control Based on Backstepping with Dynamic Surface

Guo, Qing; Liu, Yili; Jiang, Dan; Wang, Qiang; Xiong, Wenying; Liu, Jie; Li, Xiaochai

doi:10.3390/app8010076

Cited by 25 publications

(20 citation statements)

References 41 publications

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“…: D e ≤ γ /κ 2 M 3 = z a ∈ R 6 : z a ≤ γ /κ 3 (31) Additionally, the transformed error ε i is uniformly ultimately bounded, which converges to the set…”

Section: Remarkmentioning

confidence: 95%

“…This algorithm was initially used to general nonlinear systems research. The prescribed performance method gradually extends to many other fields in recent years, such as chaotic system [27], [28], spacecraft system [29], [30], electro hydraulic system [31], and marine system [32]. According to the high performance of prescribed performance approach, we can introduce it into trajectory tracking control system of the UASNN.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Fault-Tolerant Prescribed Performance Control Algorithm for Underwater Acoustic Sensor Network Nodes With Thruster Saturation

Qin

Sun

et al. 2019

IEEE Access

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This paper designs a prescribed performance fault-tolerant control strategy for the underwater acoustic sensor network nodes (UASNN) trajectory tracking control in the presence of ocean current disturbances, modeling uncertainties, and thruster faults. By using a general uncertainties observer, the influence of disturbances and uncertainties are estimated. Additionally, a novel performance function which determines explicitly the maximum convergence time is utilized. Based on the new performance function and corresponding error transformation, the 6-DOF tracking errors are restricted to prescribed bounds to ensure the desired transient and steady response. Furthermore, when considering thruster saturation, we introduce an auxiliary system to compensate for the saturation. The closed-loop system stability is proved by Lyapunov theory. The numerical simulations for three thruster faults are carried out to demonstrate that the proposed strategy is effective. INDEX TERMS Underwater acoustic sensor networks, trajectory tracking control, prescribed performance, thruster fault, saturation.

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“…: D e ≤ γ /κ 2 M 3 = z a ∈ R 6 : z a ≤ γ /κ 3 (31) Additionally, the transformed error ε i is uniformly ultimately bounded, which converges to the set…”

Section: Remarkmentioning

confidence: 95%

Section: Introductionmentioning

confidence: 99%

Fault-Tolerant Prescribed Performance Control Algorithm for Underwater Acoustic Sensor Network Nodes With Thruster Saturation

Qin

Sun

et al. 2019

IEEE Access

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“…Thus, the backstepping algorithm is designed to enforce x 1 to track, as accurately as possible, I mpp . The backstepping approach [52][53][54][56][57][58] is designed as follows:…”

Section: Type Of Controllermentioning

confidence: 99%

“…It has become an important robust algorithm due to its ability to control chaos and its flexibility in the construction of control law. It is commonly used for numerous applications, especially nonlinear uncertain systems (e.g., PEMFC power systems) [48][49][50][51][52][53][54][55][56][57][58][59]. In [48], it is used for a smart grid-connected distributed photovoltaic system.…”

Section: Introductionmentioning

confidence: 99%

A Robust Maximum Power Point Tracking Control Method for a PEM Fuel Cell Power System

2018

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Taking into account the limited capability of proton exchange membrane fuel cells (PEMFCs) to produce energy, it is mandatory to provide solutions, in which an efficient power produced by PEMFCs can be attained. The maximum power point tracker (MPPT) plays a considerable role in the performance improvement of the PEMFCs. Conventional MPPT algorithms showed good performances due to their simplicity and easy implementation. However, oscillations around the maximum power point and inefficiency in the case of rapid change in operating conditions are their main drawbacks. To this end, a new MPPT scheme based on a current reference estimator is presented. The main goal of this work is to keep the PEMFCs functioning at an efficient power point. This goal is achieved using the backstepping technique, which drives the DC–DC boost converter inserted between the PEMFC and the load. The stability of the proposed algorithm is demonstrated by means of Lyapunov analysis. To verify the ability of the proposed method, an extensive simulation test is executed in a Matlab–Simulink T M environment. Compared with the well-known proportional–integral (PI) controller, results indicate that the proposed backstepping technique offers rapid and adequate converging to the operating power point.

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“…Finally, it is included an appendix in which six easy examples are provided. The first five ones clearly show how numerous control techniques available in the literature (e.g., [10,14,15,20,[23][24][25]29,31,33,[41][42][43] and the references therein) for significant classes of linear and nonlinear systems can produce unstable control system or can significantly reduce the performance of the control system, under the following realistic hypotheses: parametric uncertainties, real actuators, measurement noise, finite online computation time of the control signal.…”

Section: Introductionmentioning

confidence: 99%

A Unified Approach to Design Robust Controllers for Nonlinear Uncertain Engineering Systems

Celentano¹

2018

Applied Sciences

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Featured Application: Design and realization of robust, simple and effective controllers, mainly for the transportation and manufacturing systems.Abstract: This paper presents new theorems, which allow to design in a unified way robust proportional-derivative (PD)-type control laws without chattering for a broad class of uncertain nonlinear multi-input multi-output (MIMO) systems, subject to bounded disturbances and noises, of great theoretical and engineering relevance. These controllers are used to track a reference signal with bounded second derivative with the tracking error norm smaller than a prescribed value. The proposed control laws are simple to design and implement, above all for robotic systems, both in the case of a trajectory assigned in the joint space and in the workspace. The obtained theoretical results can have numerous applications. In this paper four significant applications are provided. The first one concerns the solution of a nonlinear equations system or the determination of an equilibrium point of a nonlinear system. The second case study deals with the inversion of a nonlinear vectorial function or the kinematic inversion of a robot. The third application concerns: (A) the tracking control of a robot with parametric uncertainties, with and without measurement noise on velocity, both in the joint space and the workspace; (B) the impedance control of a robot interacting with a human operator. The fourth case study addresses the tracking control of an uncertain nonlinear system that does not belong to the class of mechanical systems. Finally, an appendix is included, providing six easy examples, which show how the results proposed in the paper can eliminate and/or reduce serious disadvantages existing in the robust control literature for significant classes of linear and nonlinear uncertain systems.Keywords: general robust tracking control method; design of robust proportional-derivative-type controller; practical robust stability; robust control of mechanical uncertain systems; impedance control of a robot

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Prescribed Performance Constraint Regulation of Electrohydraulic Control Based on Backstepping with Dynamic Surface

Cited by 25 publications

References 41 publications

Fault-Tolerant Prescribed Performance Control Algorithm for Underwater Acoustic Sensor Network Nodes With Thruster Saturation

Fault-Tolerant Prescribed Performance Control Algorithm for Underwater Acoustic Sensor Network Nodes With Thruster Saturation

A Robust Maximum Power Point Tracking Control Method for a PEM Fuel Cell Power System

A Unified Approach to Design Robust Controllers for Nonlinear Uncertain Engineering Systems

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