Saturated RISE Feedback Control for a Class of Second-Order Nonlinear Systems

Abstract

Abstract-A saturated controller is developed for a class of uncertain, second-order, nonlinear systems which includes time-varying and nonlinearly parameterized functions with bounded disturbances using a continuous control law with smooth saturation functions. Based on the robust integral of the sign of the error (RISE) control methodology, the developed controller is able to utilize the benefits of high gain control strategies while guaranteeing saturation limits are not surpassed. The bounds on the control are known a priori and can be adjusted by changing the feedback gains. The saturated controller yields asymptotic tracking despite model uncertainty and added disturbances in the dynamics. Experimental results using a two-link robot manipulator demonstrate the performance of the developed controller.

Robust asymptotic tracking control of a chain of integrator nonlinear systems with input constraint and hysteresis nonlinearity

“…Recently, a novel saturated robust integral of the sign of error (RISE) control (Fischer et al, 2014) has been developed to handle the potential actuator saturation by employing a hyperbolic saturation function, while the asymptotic tracking can also be guaranteed. But the main drawback of the technique proposed by Fischer et al (2014) is that the parametric uncertainties are neglected.…”

“…But the main drawback of the technique proposed by Fischer et al (2014) is that the parametric uncertainties are neglected.…”

“…The resulting controller consists of two parts: a bounded trajectory-based term and a hyperbolic saturation term, meanwhile the parametric uncertainties are also taken into account. The suitable hysteresis model in (Su et al, 2000) is employed and some certain conclusions are inferred to induce the model can be integrated with RISE controller in (Fischer et al, 2014;Yao et al, 2014cYao et al, , 2014d, which guarantees the asymptotic tracking performance. To verify the high performance of the proposed controller, some simulation results are demonstrated on a second-order sample system.…”

Robust decentralized global asymptotic tracking control of a class of nonlinear mechanical systems

“…In [16] a combination of RISE feedback controller and neural network is used for asymptotic tracking of mechanical systems. Recently, a saturated version of RISE feedback controllers for a class of second-order nonlinear systems is proposed in [17]. However, all the proposed RISE type of controllers provide only semi-global asymptotic tracking results.…”

A Kind of Nonlinear Feedback Control and Its Application

“…The automatic control has developed for more than 200 years, since the advent of the first automatic control system in 1788. Although its foundation and development result from the needs of industrial production, its application has been extended to every aspect of the human society [2][3][4][5][6][7].…”