Predefined Performance Adaptive Control of Robotic Manipulators with Dynamic Uncertainties and Input Saturation Constraints

2021 ◽  
Author(s):  
Weizhi Lyu ◽  
Di-Hua Zhai ◽  
Yuhan Xiong ◽  
Yuanqing Xia
Keyword(s):  
Adaptive Control ◽  
Input Saturation ◽  
Robotic Manipulators ◽  
Saturation Constraints ◽  
Input Saturation Constraints ◽  
Dynamic Uncertainties

Adaptive Control With Convex and Saturation Constraints

2013 ◽  
Author(s):  
Jin Yan ◽  
Davi Antônio dos Santos ◽  
Dennis S. Bernstein
Keyword(s):  
Adaptive Control ◽  
Convex Optimization ◽  
Cost Function ◽  
Input Saturation ◽  
Saturation Constraints ◽  
Total Thrust ◽  
Saturation Constraint ◽  
Command Following ◽  
Input Saturation Constraints

This paper applies retrospective cost adaptive control (RCAC) to command following in the presence of multivariable convex input saturation constraints. To account for the saturation constraint, we use convex optimization to minimize the quadratic retrospective cost function. The use of convex optimization bounds the magnitude of the retrospectively optimized input and thereby influences the controller update to satisfy the control bounds. This technique is applied to a tiltrotor with constraints on the total thrust magnitude and inclination of the rotor plane.

Robust Adaptive Synchronization of Chaotic Systems With Nonsymmetric Input Saturation Constraints

2017 ◽  
Vol 13 (1) ◽  
Author(s):  
Samaneh Mohammadpour ◽  
Tahereh Binazadeh
Keyword(s):  
Chaotic Systems ◽  
Sliding Mode ◽  
Input Saturation ◽  
Adaptive Synchronization ◽  
Adaptive Sliding Mode Controller ◽  
Robust Synchronization ◽  
Effective Performance ◽  
Saturation Constraints ◽  
Robust Adaptive ◽  
Input Saturation Constraints

This paper considers the robust synchronization of chaotic systems in the presence of nonsymmetric input saturation constraints. The synchronization happens between two nonlinear master and slave systems in the face of model uncertainties and external disturbances. A new adaptive sliding mode controller is designed in a way that the robust synchronization occurs. In this regard, a theorem is proposed, and according to the Lyapunov approach the adaptation laws are derived, and it is proved that the synchronization error converges to zero despite of the uncertain terms in master and slave systems and nonsymmetric input saturation constraints. Finally, the proposed method is applied on chaotic gyro systems to show its applicability. Computer simulations verify the theoretical results and also show the effective performance of the proposed controller.

Trajectory tracking control of electric sail with input uncertainty and saturation constraint

2016 ◽  
Vol 39 (7) ◽  
pp. 1007-1016 ◽  
Author(s):  
Yu Wang ◽  
Bingxiu Bian
Keyword(s):  
Solar Wind ◽  
Trajectory Tracking ◽  
Closed Loop ◽  
Sliding Mode ◽  
Input Saturation ◽  
Asymptotically Stable ◽  
Closed Loop System ◽  
Saturation Constraints ◽  
Non Linear System ◽  
Input Saturation Constraints

The electric sail (ES) is a novel propellantless propulsion concept, which extracts the solar wind momentum by repelling the positively charged ions. Due to the difficulty of attitude adjustment by the large flexible structure and the uncertainty of ion density, velocity and electron temperature by solar wind, there exist thrust input uncertainty and saturation with time-varying bounds for ES. The trajectory tracking problem for ES in three-dimensional (3-D) space is studied, and the composite sliding mode control scheme with corresponding guidance strategy is proposed for the single-input–multiple-output (SIMO) non-linear system. The hierarchical sliding surfaces are constructed with an auxiliary design system to analyse the effect of input saturation constraints and decouple the SIMO non-linear system to reduce the control complexity. Also, the disturbance estimation based on a super-twisting algorithm is employed to decrease the switch chattering and improve the system robustness. It is proved that all the sliding mode surfaces are asymptotically stable, and all the signals of the closed-loop system are bounded with input saturation constraints. Furthermore, all the signals are converging to zero and the closed-loop system is asymptotically stable without saturation. Finally, the simulation demonstrates the proposed composite sliding mode control is fit for ES 3-D trajectory tracking.

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