Global output feedback control of dynamically positioned surface vessels: an adaptive control approach

Mechatronics ◽  
2004 ◽  
Vol 14 (4) ◽  
pp. 341-356 ◽  
Author(s):  
Y. Fang ◽  
E. Zergeroglu ◽  
M.S. de Queiroz ◽  
D.M. Dawson
Keyword(s):  
Adaptive Control ◽  
Feedback Control ◽  
Output Feedback ◽  
Output Feedback Control ◽  
Control Approach ◽  
Surface Vessels

scholarly journals Adaptive Observer-Based Output Feedback Control for Two-Wheeled Self-Balancing Robot

2020 ◽  
Vol 2020 ◽  
pp. 1-16
Author(s):  
Ines Jmel ◽  
Habib Dimassi ◽  
Salim Hadj Said ◽  
Faouzi M’Sahli
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Control Method ◽  
Tracking Error ◽  
Output Feedback Control ◽  
High Gain ◽  
Adaptive Observer ◽  
Unknown Parameters ◽  
Control Approach ◽  
Balancing Robot

In this paper, an output feedback control approach based on an adaptive observer is developed for the two-wheeled self-balancing robot subject to unknown parameters (with nonlinear parameterization). Firstly, a high gain control method with state feedback is proposed. Then, an adaptive observer is designed to estimate the unknown state and the unknown body mass of the robot which influences the height of the center of mass. Next, the adaptive observer is combined with the designed high gain controller: a Lyapunov-based stability analysis of the closed loop system is developed to establish the convergence of the tracking error as well as estimation and adaptation errors. Simulation results assert the performance of the developed tracking control scheme for the two-wheeled self-balancing robot subject to mass variation.

Robust nonlinear H∞ output-feedback control for flexible spacecraft attitude manoeuvring

2019 ◽  
Vol 41 (7) ◽  
pp. 2026-2038 ◽  
Author(s):  
Huihui Bai ◽  
Chunqing Huang ◽  
Jianping Zeng
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Attitude Control ◽  
Output Feedback Control ◽  
Lyapunov Stability Theory ◽  
Flexible Spacecraft ◽  
Matrix Perturbation ◽  
External Disturbances ◽  
Convex Optimization Problem ◽  
Control Approach

This paper presents a robust nonlinear H∞ output-feedback control approach for attitude manoeuvring of flexible spacecraft with external disturbances, inertia matrix perturbation and input constraints. By applying Lyapunov stability theory and using the generalized S-procedure and sum of squares (SOS) techniques, the robust H∞ output-feedback attitude control problem is converted into a convex optimization problem with SOS constraints when the flexible spacecraft is modelled as a polynomial state-space equation with polytope uncertainties. As a result, it overcomes the difficulty in constructing Lyapunov function and implementing numerical computation caused by the non-convexity of output-feedback H∞ control design for nonlinear systems. Moreover, it enables the state-observer and the controller to be designed independently and hence the complexity of the control algorithm is reduced remarkably. A numerical example illustrates the effectiveness and feasibility of the proposed approach.

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