Robust Adaptive Asymptotic Tracking of Nonlinear Systems With Additive Disturbance

Cai, Zhihua; Queiroz, M.S. de; Dawson, D.M.

doi:10.1109/tac.2005.864204

Cited by 131 publications

(101 citation statements)

References 12 publications

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“…Using the dynamic (10) and and in (17) and (18), the following open-loop error equation can be determined: (20) where (21) The LDI-based altitude control law with the RISE feedback is defined as (22) where and are used for eliminating the nominal model information, and is the trim control input. The RISE feedback term is given as [20] ( 23) where is the generalized solution to , and , are positive control gains.…”

Section: ) Ldi-based Altitude Control Design With Rise Feedbackmentioning

confidence: 99%

“…By injecting the control laws (22) and (29) to (20) and (26), the closed-loop error system is obtained as In a similar manner as in [18], the following inequalities hold:…”

Section: Appendixmentioning

confidence: 99%

“…Remark 1: The proposed control system in Fig. 1, which is composed of (22) and (29), ensures asymptotic altitude and attitude tracking using the RISE feedback and NN feedforward terms. and in (16) are generated using the given position , velocity and heading commands .…”

Section: Appendixmentioning

confidence: 99%

“…To improve the performance of the RUAV control system with a continuous control law, this study and the preliminary work in [16] propose the NN-based adaptive control system with robust integral of the signum of the error (RISE) feedback [17]- [22]. The RISE feedback control can compensate for disturbances or uncertainty while ensuring a semi-global asymptotic results with a continuous controller.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Autonomous Flight of the Rotorcraft-Based UAV Using RISE Feedback and NN Feedforward Terms

Shin

Kim

et al. 2012

IEEE Trans. Contr. Syst. Technol.

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Section: ) Ldi-based Altitude Control Design With Rise Feedbackmentioning

confidence: 99%

“…By injecting the control laws (22) and (29) to (20) and (26), the closed-loop error system is obtained as In a similar manner as in [18], the following inequalities hold:…”

Section: Appendixmentioning

confidence: 99%

Section: Appendixmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Autonomous Flight of the Rotorcraft-Based UAV Using RISE Feedback and NN Feedforward Terms

Shin

Kim

et al. 2012

IEEE Trans. Contr. Syst. Technol.

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“…Recently, a new feedback control strategy called robust integral of the sign of the error (RISE) is proposed in [16] which compensates for disturbances or uncertainties of dynamic system, by generating a continuous control signal [17,18]. In [19], Patre et al utilized this method to develop a tracking controller in presence of additive disturbances and parametric uncertainties.…”

Section: Introductionmentioning

confidence: 99%

Optimal Design of a RISE Feedback Controller for a 3-DOF Robot Manipulator Using Particle Swarm Optimization

Yazdanzad¹,

Khosravi²,

Ranjbar³

et al. 2014

IJITCS

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Abstract-This paper presents an application of recently proposed robust integral of the sign of the error (RISE) feedback control scheme for a three degrees-of-freedom (DOF) robot manipulator tracking problem. This method compensates for nonlinear disturbances and uncertainties in the dynamic model, and results in asymptotic trajectory tracking. To avoid selecting parameters of the RISE controller by time-consuming trial and error method, particle swarm optimization (PSO) algorithm is employed. The objective of the PSO algorithm is to find a set of parameters that minimizes the mean of root squared error as the fitness function. The proposed method attains tracking goal, without any chattering in control input. Indeed, the existence of a unique integral sign term in the RISE controller avoids the occurrence of chattering phenomenon that usually happens in sliding mode controllers. Numerical simulations demonstrate the effectiveness of the proposed control scheme.Index Terms-Robust integral of the sign of the error (RISE), Asymptotic tracking, 3degrees-of-freedom robot manipulator, particle swarm optimization (PSO)

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Nonlinear control for uncertain nonlinear systems with unknown control directions using less or no parameter estimates

Zhang

Shen

Zhou

et al. 2014

Adaptive Control & Signal

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SummaryFor the parametric strict‐feedback nonlinear systems with unknown virtual control coefficients and unknown control directions, the control schemes presented in the existing literature have the disadvantage of overparametrization. In this paper, a novel systematic design procedure is developed to solve the overparametrization problem. Two nonlinear controllers are designed by combining the backstepping technique and the Nussbaum gain approach. A main advantage of the proposed controllers is that they contain less or no parameter estimates that need to be updated online. In the first scheme, the number of the estimated parameters is equal to the dimension of the controlled system. In the second scheme, no parameter estimates are required. In both of the control schemes, the boundedness of all the closed‐loop signal is guaranteed, and the asymptotic convergence of the system states is achieved. An example is provided to demonstrate the effectiveness of the proposed design approaches. Copyright © 2014 John Wiley & Sons, Ltd.

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Robust Adaptive Asymptotic Tracking of Nonlinear Systems With Additive Disturbance

Cited by 131 publications

References 12 publications

Autonomous Flight of the Rotorcraft-Based UAV Using RISE Feedback and NN Feedforward Terms

Autonomous Flight of the Rotorcraft-Based UAV Using RISE Feedback and NN Feedforward Terms

Optimal Design of a RISE Feedback Controller for a 3-DOF Robot Manipulator Using Particle Swarm Optimization

Nonlinear control for uncertain nonlinear systems with unknown control directions using less or no parameter estimates

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