scholarly journals Robust Tracking Control for Rendezvous in Near-Circular Orbits

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
Author(s):  
Neng Wan ◽  
Ming Liu ◽  
Hamid Reza Karimi
Keyword(s):  
Tracking Control ◽  
Input Saturation ◽  
Sufficient Conditions ◽  
Linear Matrix ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
Circular Orbits ◽  
Two Body Problem ◽  
Guaranteed Cost ◽  
Tracking Controller

This paper investigates a robust guaranteed cost tracking control problem for thrust-limited spacecraft rendezvous in near-circular orbits. Relative motion model is established based on the two-body problem with noncircularity of the target orbit described as a parameter uncertainty. A guaranteed cost tracking controller with input saturation is designed via a linear matrix inequality (LMI) method, and sufficient conditions for the existence of the robust tracking controller are derived, which is more concise and less conservative compared with the previous works. Numerical examples are provided for both time-invariant and time-variant reference signals to illustrate the effectiveness of the proposed control scheme when applied to the terminal rendezvous and other astronautic missions with scheduled states signal.

Adaptive Robust Tracking Control for Hybrid Models of Three-Dimensional Bipedal Robotic Walking Under Uncertainties

2021 ◽  
Vol 143 (8) ◽  
Author(s):  
Yan Gu ◽  
Chengzhi Yuan
Keyword(s):  
Lyapunov Function ◽  
Tracking Control ◽  
Controller Design ◽  
Sufficient Conditions ◽  
Continuous Phase ◽  
Hybrid Models ◽  
Bipedal Walking ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
Control Lyapunov Function

Abstract This paper introduces an adaptive robust trajectory tracking controller design to provably realize stable bipedal robotic walking under parametric and unmodeled uncertainties. Deriving such a controller is challenging mainly because of the highly complex bipedal walking dynamics that are hybrid and involve nonlinear, uncontrolled state-triggered jumps. The main contribution of the study is the synthesis of a continuous-phase adaptive robust tracking control law for hybrid models of bipedal robotic walking by incorporating the construction of multiple Lyapunov functions into the control Lyapunov function. The evolution of the Lyapunov function across the state-triggered jumps is explicitly analyzed to construct sufficient conditions that guide the proposed control design for provably guaranteeing the stability and tracking the performance of the hybrid system in the presence of uncertainties. Simulation results on fully actuated bipedal robotic walking validate the effectiveness of the proposed approach in walking stabilization under uncertainties.

scholarly journals Fuzzy Robust Tracking Control for Uncertain Nonlinear Time-Delay System

2015 ◽  
Vol 10 (6) ◽  
pp. 52 ◽  
Author(s):  
Zhenbin Du ◽  
Tsung Chih Lin ◽  
Tiebiao Zhao
Keyword(s):  
Time Delay ◽  
Tracking Control ◽  
Fuzzy Controller ◽  
Delay System ◽  
Delay Systems ◽  
Linear Matrix ◽  
Robust Tracking ◽  
Time Delay System ◽  
Robust Tracking Control ◽  
Control Scheme

The problem of fuzzy robust tracking control is investigated for uncertain nonlinear time-delay systems. The nonlinear time-delay system is modeled as uzzy Takagi-Sugeno (T-S) system, and fuzzy logic systems are used to eliminate the ncertainties of the system. A sufficient condition for the existence of fuzzy controller s given in terms of linear matrix inequalities (LMIs) and adaptive law. Based on yapunov stability theorem, the fuzzy control scheme guarantees the desired tracking erformance in sense that all the closed-loop signals are uniformly ultimately bounded (UUB). Simulation results of 2-link manipulator demonstrate the effectiveness of the eveloped control scheme.<br /><br />

Robust Tracking Control for a Class of Nonlinear Systems

2012 ◽  
Vol 479-481 ◽  
pp. 2161-2164
Author(s):  
Yang Yu ◽  
Wei Wang
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
Tracking Error ◽  
Reference Signal ◽  
Linear Matrix ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
Controlled System ◽  
Stabilization Control ◽  
S Model

This paper deals with the problem of fizzy robust tracking control for a class of nonlinear systems. The nonlinear system is approximated by T-S model, considering the modeling error. The tracking error of the controlled system following the reference signal is studied, and the tracking error’s exponential stability. The coherence of tracking control and stabilization control of the fuzzy systems is proved by using Lyapunov function theory combining with linear matrix inequalities (LMIs).Simulation results demonstrate the effectiveness of the proposed approach and conditions.

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