Fixed-time robust output feedback control of a restricted state biped robot based on a tangent barrier Lyapunov function

In this paper, an adaptive robust output feedback control approach is proposed for a class of uncertain non-linear systems with unknown input dead-zone non-linearity, unknown failures and unknown bounded disturbances. By constructing the dead-zone inverse and applying the backstepping recursive design technique, a robust adaptive backstepping controller is proposed, in which adaptive control law is synthesized to handle parametric uncertainties and a novel robust control law to attenuate disturbances. The robust output feedback control law is developed by integrating a switching function σ algorithm at each step of the backstepping design procedure. In addition, K-filters are designed to estimate the unmeasured states and neural networks are employed to approximate the unknown non-linear functions. By ensuring boundedness of the barrier Lyapunov function, the major feature of the proposed controller is that it can theoretically guarantee asymptotic output tracking performance, in spite of the presence of unknown input dead-zone non-linearity, various actuator failures and unknown bounded disturbances via Lyapunov stability analysis. The effectiveness of the proposed approach is illustrated by the simulation examples.

Download Full-text

Static output feedback control for continuous-time TS descriptor models: Decoupling the Lyapunov function

2015 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE) ◽

10.1109/fuzz-ieee.2015.7338011 ◽

2015 ◽

Cited By ~ 1

Author(s):

Victor Estrada-Manzo ◽

Thierry Marie Guerra ◽

Zsofia Lendek

Keyword(s):

Feedback Control ◽

Lyapunov Function ◽

Output Feedback ◽

Continuous Time ◽

Output Feedback Control ◽

Static Output Feedback ◽

Static Output Feedback Control ◽

Static Output

Download Full-text

Output feedback control for aircraft at high angle of attack based upon fixed-time extended state observer

Aerospace Science and Technology ◽

10.1016/j.ast.2019.105468 ◽

2019 ◽

Vol 95 ◽

pp. 105468

Author(s):

Junjie Liu ◽

Mingwei Sun ◽

Zengqiang Chen ◽

Qinglin Sun

Keyword(s):

Feedback Control ◽

Output Feedback ◽

Angle Of Attack ◽

Output Feedback Control ◽

Fixed Time ◽

State Observer ◽

Extended State Observer ◽

High Angle ◽

Extended State ◽

High Angle Of Attack

Download Full-text

Energy-based output feedback control of the underactuated 2DTORA system with saturated inputs

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331220933475 ◽

2020 ◽

Vol 42 (14) ◽

pp. 2822-2829

Author(s):

Kexin Xu ◽

Xianqing Wu ◽

Miao Ma ◽

Yibo Zhang

Keyword(s):

Feedback Control ◽

Lyapunov Function ◽

Output Feedback ◽

Control Method ◽

Actuator Saturation ◽

Output Feedback Control ◽

Lyapunov Theory ◽

Velocity Signal ◽

Feedback Control Method ◽

The Stability

In this paper, we consider the control issues of the two-dimensional translational oscillator with rotational actuator (2DTORA) system, which has two translational carts and one rotational rotor. An output feedback controller for the 2DTORA system is proposed, which can prevent the unwinding behaviour. In addition, the velocity signal unavailability and actuator saturation are taken into account, simultaneously. In particular, the dynamics of the 2DTORA system are given first. On the basis of the passivity and control objectives of the 2DTORA system, an elaborate Lyapunov function is constructed. Then, based on the introduced Lyapunov function, a novel output feedback control method is proposed straightforwardly for the 2DTORA system. Lyapunov theory and LaSalle’s invariance principle are utilized to analyse the stability of the closed-loop system and the convergence of the states. Finally, simulation results are provided to illustrate the excellent control performance of the proposed controller in comparison with the existing method.

Download Full-text