Robust Adaptive Control of Uncertain Nonlinear Systems in the Presence of Input Saturation

Zhou, Jing; Chen, Wen

doi:10.3182/20060329-3-au-2901.00017

Cited by 34 publications

(8 citation statements)

References 15 publications

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“…Numerical simulations confirm that conditions (29) through (31) are satisfied with the values of 6 1 c c − given by (77). Fig.…”

Section: Control Performancesupporting

confidence: 63%

Anti-windup adaptive tracking control for Euler-Lagrange systems with actuator saturation

Kanamori

2013

2013 3rd International Conference on Instrumentation Control and Automation (ICA)

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The present paper proposes an anti-windup adaptive law for Euler-Lagrange systems with actuator saturation. For an arbitrary target orbit, all constant parameters of the robot system are estimated by the proposed anti-windup adaptive law. In order to ensure tracking performance with actuator saturation, the input saturation state is classified into four saturation cases, and an adaptive law is given for each case. Switching of the adaptive law according to saturation case is proposed. Two Lyapunov functions, such as hybrid control, are derived and global asymptotic stability is ensured by energy dissipation between the two Lyapunov functions. The control performance is verified through numerical simulations using a two-link robot arm.

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“…Numerical simulations confirm that conditions (29) through (31) are satisfied with the values of 6 1 c c − given by (77). Fig.…”

Section: Control Performancesupporting

confidence: 63%

Anti-windup adaptive tracking control for Euler-Lagrange systems with actuator saturation

Kanamori

2013

2013 3rd International Conference on Instrumentation Control and Automation (ICA)

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“…In this section, an output‐feedback controller will be designed based on backstepping technique, BLF, and the composite observers (3) and (9). To attenuate the influence of input saturation, an auxiliary system is introduced as in Reference 28 to generate extra signals:

\begin{align} {\overset{λ}{true}}_{i} = λ_{i + 1} prefix- q_{i} λ_{i}, {\overset{λ}{true}}_{n} = ĝ_{0} normalΔ u prefix- q_{n} λ_{n}, \end{align}

where i = 1, … , n − 1; q 1 , … , q n > 0 are constants satisfying certain restrictions;

Δ u = u (v) - v

is the saturated input error.…”

Section: Design Of Output‐feedback Controllermentioning

confidence: 99%

“…Since the input saturation often occurs in real systems, which may inevitably limit system performance and even result in system instability, it is significant to take input saturation into consideration when solving the control problems of nonlinear systems. By introducing an auxiliary design system to compensate the input saturation, the adaptive tracking control was presented for nonlinear systems in Reference 28. Since then, this method was widely used to stabilize nonlinear systems with input saturation (eg, References 29‐31).…”

Section: Introductionmentioning

confidence: 99%

Observer‐based tracking control for constrained nonlinear systems with mismatching disturbances and its application

Min

Fei

et al. 2020

Intl J Robust & Nonlinear

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In this article, a novel output-feedback control scheme is proposed for nonlinear systems involving unknown input saturation, control gain, and unmeasurable disturbances under the condition of an output constraint. First, a proper barrier Lyapunov function and an opportune backstepping are used to alleviate the control burdens caused by output constraint. Then, a novel auxiliary system is introduced with appropriate coordinate transformation, which can create extra freedoms to attenuate the effects brought by input saturation. As a remarkable feature, a composite observer with the estimate of unknown control gain is constructed on the basis of disturbance observer-based control and state observer control. It can deal with the unmeasurable disturbances and states simultaneously. According to the proposed scheme, it is proven that all the signals in the closed-loop system are uniformly ultimately bounded, and the tracking error is bounded by the design parameters and saturated input error without the violation of the output constraint. Finally, the effectiveness of the proposed control is verified by two simulation examples.

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“…There are two types of auxiliary system. One is the same order as the controlled object [30] and the other one [31,32] is the first-order auxiliary system model [33,34]. The control gains of this article can be known, and considering the feasibility of system implementation, a first-order auxiliary system is used to compensate the input saturation in this paper.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Nonlinear Control for the Stabilized Platform With Disturbance and Input Saturation

Zhang

Guan

et al. 2020

IEEE Access

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This paper proposes a control strategy including super-twisting extended state observer (STESO) and sliding mode controller based on backstepping technique for the stabilized platform with disturbance and input saturation. Firstly, the system is modelled to obtain a non-matched nonlinear model. Secondly, two STESOs are designed to estimate the disturbances in the matched channel and the unmatched channel. And then, multi-sliding mode controller based on backstepping technique is designed for non-matched nonlinear system; and the first-order auxiliary system is introduced to alleviate the effect of the input saturation. Furthermore, Lyapunov function is used to prove the stability of the closed system with the proposed controller and finite-time convergence proof is given in this paper. Finally, comparative simulations are carried out and the results show the effectiveness of the proposed controller. It is proved that the control accuracy is improved effectively and the proposed controller can guarantee the consistent tracking error of the system.

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Robust Adaptive Control of Uncertain Nonlinear Systems in the Presence of Input Saturation

Cited by 34 publications

References 15 publications

Anti-windup adaptive tracking control for Euler-Lagrange systems with actuator saturation

Anti-windup adaptive tracking control for Euler-Lagrange systems with actuator saturation

Observer‐based tracking control for constrained nonlinear systems with mismatching disturbances and its application

Adaptive Nonlinear Control for the Stabilized Platform With Disturbance and Input Saturation

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