Functional observer-based finite-time adaptive ISMC for continuous systems with unknown nonlinear function

A design method of LS-SVM based stable adaptive controller is proposed for a class of nonlinear continuous systems with unknown nonlinear function in this paper. Due to the fact that the control law is derived based on the Lyapunov stability theory, the scheme can not only solve the tracking problem of this class of nonlinear systems, but also it can guarantee the asymptotic stability of the closed systems, which is superior to many LS-SVM based control schemes. The effectiveness of the proposed scheme is demonstrated by simulation results.

Download Full-text

Finite-Time Synchronization of Uncertain Complex Dynamic Networks with Nonlinear Coupling

Complexity ◽

10.1155/2019/9821063 ◽

2019 ◽

Vol 2019 ◽

pp. 1-14 ◽

Cited By ~ 2

Author(s):

Yiping Luo ◽

Yuejie Yao

Keyword(s):

Finite Time ◽

Time Synchronization ◽

Dynamic Networks ◽

Nonlinear Function ◽

Time Instant ◽

Control Input ◽

Parameter Uncertainties ◽

Complex Dynamic ◽

Network Nodes ◽

Analysis Techniques

The finite-time synchronization control is studied in this paper for a class of nonlinear uncertain complex dynamic networks. The uncertainties in the network are unknown but bounded and satisfy some matching conditions. The coupling relationship between network nodes is described by a nonlinear function satisfying the Lipchitz condition. By introducing a simple Lyapunov function, two main results regarding finite-time synchronization of a class of complex dynamic networks with parameter uncertainties are derived. By employing some analysis techniques like matrix inequalities, suitable controllers can be designed based on the obtained synchronization criteria. Moreover, with the obtained control input, the time instant required for the system to achieve finite-time synchronization can be estimated if a set of LMIs are feasible or an assumption on the eigenvalues of some matrices can be satisfied. Finally, the effectiveness of the proposed results is verified by numerical simulation.

Download Full-text

A Finite Time Functional Observer For Linear Systems

Proceedings of the 44th IEEE Conference on Decision and Control ◽

10.1109/cdc.2005.1583322 ◽

2006 ◽

Cited By ~ 8

Author(s):

T. Raff ◽

P. Menold ◽

C. Ebenbauer ◽

F. Allgower

Keyword(s):

Linear Systems ◽

Finite Time ◽

Functional Observer

Download Full-text

Dynamic Control of Mobile Robot Using RBF Global Fast Sliding mode

IAES International Journal of Robotics and Automation (IJRA) ◽

10.11591/ijra.v7i3.pp159-168 ◽

2018 ◽

Vol 7 (3) ◽

pp. 159

Author(s):

Ali Mallem ◽

Noureddine Slimane ◽

Walid Benaziza

Keyword(s):

Mobile Robot ◽

Control Strategy ◽

Finite Time ◽

Sliding Mode ◽

Dynamic Control ◽

Nonlinear Function ◽

Lyapunov Theory ◽

System Stability ◽

Matlab Simulink ◽

Angular Velocities

<p class="Abstract">This paper mainly In this paper a dynamic control of mobile robot using RBF global fast sliding mode (RBF-GFSM) strategy is presented. Firstly a GFSM controller is used in order to make the linear and angular velocities converge to references ones in finite time. However a problem of instability of velocities is appeared by introducing disturbances in the system. Secondly, a combined controller using RBF-GFSM approach is applied in aim to stabilize the velocities errors and estimates the nonlinear function of the robot model. The system stability is done using the lyapunov theory. The proposed controllers are dynamically simulated using Matlab/Simulink and the simulations results show the efficiency and robustness of the proposed control strategy.</p>

Download Full-text

Speed Control of Permanent Magnet DC Motor with Friction and Measurement Noise Using Novel Nonlinear Extended State Observer-Based Anti-Disturbance Control

Energies ◽

10.3390/en12091651 ◽

2019 ◽

Vol 12 (9) ◽

pp. 1651 ◽

Cited By ~ 14

Author(s):

Amjad J. Humaidi ◽

Ibraheem Kasim Ibraheem

Keyword(s):

Permanent Magnet ◽

Finite Time ◽

Nonlinear Function ◽

State Observer ◽

Lyapunov Theory ◽

Extended State Observer ◽

Extended State ◽

Disturbance Rejection Control ◽

Single Term ◽

Nonlinear Extended State Observer

In this paper, a novel finite-time nonlinear extended state observer (NLESO) is proposed and employed in active disturbance rejection control (ADRC) to stabilize a nonlinear system against system’s uncertainties and discontinuous disturbances using output feedback based control. The first task was to aggregate the uncertainties, disturbances, and any other undesired nonlinearities in the system into a single term called the “generalized disturbance”. Consequently, the NLESO estimates the generalized disturbance and cancel it from the input channel in an online fashion. A peaking phenomenon that existed in linear ESO (LESO) has been reduced significantly by adopting a saturation-like nonlinear function in the proposed nonlinear ESO (NLESO). Stability analysis of the NLEO is studied using finite-time Lyapunov theory, and the comparisons are presented over simulations on permanent magnet DC (PMDC) motor to confirm the effectiveness of the proposed observer concerning LESO.

Download Full-text