Semi‐Global Output Feedback Tracking to Reference System with Input for a Benchmark Nonlinear System

In this article, committed to extending the robust integral of the sign of the error (RISE) feedback control to the working condition of output feedback, a novel output feedback controller with a continuously bounded control input which combines the adaptive control and integral robust feedback will be proposed for trajectory tracking of a family of nonlinear systems subject to modeling uncertainties. A novel adaptive state observer (ASO) with disturbance rejection performance is creatively constructed to derive real‐time estimation of the unmeasured state signals. Moreover, a projection‐type adaption law is integrated to handle parameter uncertainties and an integral robust term is employed to deal with external disturbances. It is shown that asymptotic estimation performance and meanwhile asymptotic tracking result can eventually be derived. Simulation validations are implemented to demonstrate the high tracking performance of the presented controller. Notably, the synthesized control algorithm can be readily extended to the Euler–Lagrange systems. Typically, it can be extended to practical electromechanical equipment such as three‐dimensional vector forming robots to improve the real‐time forming accuracy.

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“…∞, 8 χ(0) Ѕ can be obtained. Meanwhile, according to the similar approaches in [11,19,[34][35][36], we can obtain the results in Theorem 1.…”

Section: Conflict Of Interestmentioning

confidence: 81%

Output feedback adaptive RISE control for uncertain nonlinear systems

Yang

Zhu

Yang

et al. 2022

Asian Journal of Control

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“…In [18–24], according to the cascade form model of the TORA system, some output feedback controllers respecting velocity feedback unavailability and sliding mode controllers taking external disturbances into consideration are developed for the stabilization of the TORA system. In addition to the above‐mentioned schemes, some other control techniques, such as intelligent control and backstepping control, are also utilized for the stabilization of the TORA system [25–32]. Although some of existing methods take velocity signals unavailability and actuator saturation constraints into consideration, after summarizing the existing methods for the TORA system, there is still some limitations for them: 1) they are designed by assuming that system parameters are exactly known; 2) they distinguish

θ false(t false) = 0

and

θ false(t false) = 2 n π false(n = \pm 1, \pm 2, \dots false)

, which is the same rotational configuration.…”

Section: Introductionmentioning

confidence: 99%

Output feedback control for an underactuated benchmark system with bounded torques

et al. 2020

Asian Journal of Control

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In this paper, we consider the stabilization of the translational oscillator with a rotational actuator (TORA) system. Existing control methods for the TORA system are developed on the basis of the assumptions that full state feedback is available, and the actuator can supply control torques with any bounded amplitudes or system parameters are exactly known. In order to relax these assumptions, an amplitude‐saturated output feedback controller is proposed for the TORA system. Compared with existing control methods, the proposed method exhibits four remarkable features: free of plant parameters, bounded amplitude, output feedback, and unwinding behavior prevention. Specifically, the passivity of the TORA system is analyzed first. Then, a constructive energy‐like function is introduced and a corresponding amplitude‐saturated output feedback control law for the TORA system is proposed on the basis of the constructed energy‐like function. Lyapunov‐based analysis and LaSalle's invariance principle are used to prove the boundedness and convergence of the closed‐loop signals. Finally, numerical simulations with comparisons to previous reported methods are implemented to demonstrate the superior performance of the proposed method.

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