Design and Stability Analysis of a Fractional Order State Feedback Controller for Trajectory Tracking of a Differential Drive Robot

2018 ◽  
Vol 16 (6) ◽  
pp. 2790-2800 ◽  
Author(s):  
Omar Waleed Abdulwahhab ◽  
Nizar Hadi Abbas
Keyword(s):  
Stability Analysis ◽  
Fractional Order ◽  
Trajectory Tracking ◽  
State Feedback ◽  
Feedback Controller ◽  
Differential Drive ◽  
State Feedback Controller ◽  
Differential Drive Robot ◽  
Order State

Control of Chaos via Fractional-Order State Feedback Controller

2010 ◽  
pp. 511-519 ◽  
Author(s):  
Seyed Hassan Hosseinnia ◽  
Reza Ghaderi ◽  
Abolfazl Ranjbar ◽  
Farzad Abdous ◽  
Shaher Momani
Keyword(s):  
Fractional Order ◽  
State Feedback ◽  
Feedback Controller ◽  
Control Of Chaos ◽  
State Feedback Controller ◽  
Order State

scholarly journals Controlling SSSC by Full Order State Feedback Controller

2016 ◽  
Vol 151 (9) ◽  
pp. 33-39
Author(s):  
Susmita Paul ◽  
Mukut Datta ◽  
Champa Nandi
Keyword(s):  
State Feedback ◽  
Feedback Controller ◽  
State Feedback Controller ◽  
Order State

scholarly journals Adaptive Inverse Optimal Control of a Novel Fractional-Order Four-Wing Hyperchaotic System with Uncertain Parameter and Circuitry Implementation

2015 ◽  
Vol 2015 ◽  
pp. 1-15 ◽  
Author(s):  
Chaojun Wu ◽  
Gangquan Si ◽  
Yanbin Zhang ◽  
Ningning Yang
Keyword(s):  
Optimal Control ◽  
Fractional Order ◽  
State Feedback ◽  
Feedback Controller ◽  
Uncertain Parameter ◽  
Hyperchaotic System ◽  
Inverse Optimal Control ◽  
State Feedback Controller ◽  
Oscillation Circuit ◽  
Order Four

An efficient approach of inverse optimal control and adaptive control is developed for global asymptotic stabilization of a novel fractional-order four-wing hyperchaotic system with uncertain parameter. Based on the inverse optimal control methodology and fractional-order stability theory, a control Lyapunov function (CLF) is constructed and an adaptive state feedback controller is designed to achieve inverse optimal control of a novel fractional-order hyperchaotic system with four-wing attractor. Then, an electronic oscillation circuit is designed to implement the dynamical behaviors of the fractional-order four-wing hyperchaotic system and verify the satisfactory performance of the controller. Comparing with other fractional-order chaos control methods which may have more than one nonlinear state feedback controller, the inverse optimal controller has the advantages of simple structure, high reliability, and less control effort that is required and can be implemented by electronic oscillation circuit.

Tracking a Chaotic System Using an Observer-Based Nonlinear State-Feedback Controller

2011 ◽  
Vol 403-408 ◽  
pp. 4643-4648
Author(s):  
Tanushree Roy ◽  
Aparajita Sengupta
Keyword(s):  
Nonlinear System ◽  
Trajectory Tracking ◽  
State Feedback ◽  
Duffing Oscillator ◽  
Feedback Controller ◽  
Nonlinear Observer ◽  
Single Input Single Output ◽  
State Feedback Controller ◽  
Single Output ◽  
Nonlinear State

This paper attempts to design a Luenberger-like nonlinear observer and a nonlinear state-feedback controller for trajectory tracking of a single-input/single-output nonlinear system exhibiting chaotic dynamics. Using a nonlinear transformation, the nonlinear system is first transformed into a linear system and thereafter a control law is designed for trajectory tracking. The controller, designed on the basis of an input-output linearized model, is applied on both the linearized as well as the nonlinear system. The results are validated through simulation on a Duffing oscillator.

scholarly journals Observer-based trajectory tracking control with preview action for a class of discrete-time Lipschitz nonlinear systems and its applications

2020 ◽  
Vol 12 (7) ◽  
pp. 168781402092265
Author(s):  
Xiao Yu ◽  
Fucheng Liao
Keyword(s):  
Nonlinear Systems ◽  
Discrete Time ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
State Feedback ◽  
Feedback Controller ◽  
Matrix Inequality ◽  
State Feedback Controller ◽  
Lipschitz Nonlinear Systems ◽  
Reference Knowledge

In this article, the observer-based preview tracking control problem is investigated for a class of discrete-time Lipschitz nonlinear systems. To convert the observer-based trajectory tracking problem into a regulation problem, the classical difference technique is used to construct an augmented error system containing tracking error signal and previewable reference knowledge. Then, a state feedback controller with specific structures is taken into consideration. Sufficient design condition is established, based on the Lyapunov function approach, to guarantee the asymptotic stability of the closed-loop system. By means of some special mathematical derivations, the bilinear matrix inequality condition is successfully transformed into a tractable linear matrix inequality. Meanwhile, the gains of both observer and tracking controller can be computed simultaneously only in one step. As for the original system, the developed tracking control law is composed of an integrator, an observer-based state feedback controller, and a preview action term related to the reference signal. Finally, two numerical examples are provided to demonstrate the effectiveness of the theoretical method.

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