Robust time-varying output tracking control in the presence of actuator saturation

Abstract

This paper considers the problem of output tracking of a time-varying reference signal for a class of uncertain systems in the presence of actuator saturation. To achieve this capability, a new controller is proposed by robustifying the generalized composite nonlinear feedback control method with the integral sliding mode controller. Since the proposed controller may be saturated, a precise analysis is done to show its robust performance despite the presence of actuator saturation and model uncertainties. For this purpose, a theorem is given and proved that guarantees the robust output tracking via the proposed control law for three different cases of the saturation function and it is shown that even if the control signal is saturated, the proposed controller achieves output tracking of the time-varying reference signal. Also, in order to show the applicability of the proposed controller, it is applied on two practical systems, the XY-table and inertia wheel inverted pendulum. Computer simulations verify the theoretical results and also display the effective performance of the proposed controller.

Modified composite nonlinear feedback control for output tracking of nonstep signals in singular systems with actuator saturation

“…where F i is the ith raw of matrix F. Then, the modified CNF control law (15) will drive the output of the closed-loop system to track the nonstep reference signal r d (t) and the tracking error is guaranteed to be uniformly ultimately bounded provided that the initial condition and |u d i (t)| satisfỹ…”

“…4 Practical advantages of the CNF controller compared to other methods such as antiwindup controller 5,6 and proximate time optimal servomechanism, 7 which also considered the actuator saturation constraint, motivated the researchers to use the CNF control method, increasingly. Later, numerous studies were performed on CNF control such as investigating the CNF control method for a class of nonlinear systems, 8,9 robustifying CNF control laws in continuous [10][11][12] and discrete-time systems, 13 developing CNF controller for nonstep tracking problems, [14][15][16] transient performance improvement of nonlinear systems, 17 master-slave synchronization, 18 and path following. 19,20 Some other recent studies in this field can be observed in other works.…”

Rapidly-implementable optimizely-sizable fuzzy controller architectures: A performance analysis for semiconductor packaging two axes table

“…Pietursewicz designed a hybrid predictive approach to robust control of milling machine XY table velocity was proposed with the results of simulation tests [11]. In [12], "the integral sliding mode controller is proposed to achieve output tracking of the time-varying reference signal for the X-Y table and inertia wheel inverted pendulum". In [13], two field-control synchronous motors are actuated a CNC biaxial motion machine using adaptive recurrent-neural-network (ARNN) motion control system.…”

Robust output tracking of nonlinear systems with transient improvement via funnel-based sliding mode control

“…Singla et al (2014) and Chen et al (2017) have used a combination of a nonlinear approach and specific cost functions to progress the speed of the transient responses and to improve the amplitude of overshoot in the closed-loop system, simultaneously. Another control procedure that tries to improve the characteristics of the transient responses is composite nonlinear feedback (CNF) method (Binazadeh and Bahmani, 2018; Jafari and Binazadeh, 2018, 2019, 2020; Wang and Zhao, 2016). Model predictive control (MPC) scheme has also been used for improving the transient response (Köhler et al, 2018; Mehrivash and Shafiei, 2019; Aminsafaee and Shafiei, 2019).…”