scholarly journals Output Feedback Control for Asymptotic Stabilization of Spacecraft with Input Saturation

2017 ◽  
Vol 2017 ◽  
pp. 1-7 ◽  
Author(s):  
Chutiphon Pukdeboon
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Control Method ◽  
Input Saturation ◽  
Output Feedback Control ◽  
Velocity Measurements ◽  
External Disturbances ◽  
Nonlinear Disturbance Observer ◽  
Rigid Spacecraft ◽  
Actuator Constraints

This paper investigates the attitude stabilization problem of rigid spacecraft subject to actuator constraints, external disturbances, and attitude measurements only. An output feedback control framework with input saturation is proposed to solve this problem. The general saturation function is utilized in the proposed controller design and a unified control method is developed for the asymptotic stabilization of rigid spacecraft without velocity measurements. Asymptotic stability is proven by Lyapunov stability theory. Moreover, a new nonlinear disturbance observer is designed to compensate for external disturbances. Then, a composite controller is presented by combining a unified saturated output feedback control with a nonlinear disturbance observer. Desirable features of the proposed control scheme include the intuitive structure, robustness against external disturbances, avoidance of model information and velocity measurements, and ability to ensure that the actuator constraints are not violated. Finally, numerical simulations have been carried out to verify the effectiveness of the proposed control method.

scholarly journals Gain Scheduling Output Feedback Control for Vehicle Path Tracking Considering Input Saturation

Energies ◽  
2020 ◽  
Vol 13 (17) ◽  
pp. 4570
Author(s):  
Chao Liu ◽  
Weiqiang Zhao ◽  
Jie Li
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Control Method ◽  
Input Saturation ◽  
Output Feedback Control ◽  
Gain Scheduling ◽  
Parameter Uncertainties ◽  
Vehicle System ◽  
Driver Workload ◽  
Feedback Control Method

This paper presents a gain scheduling output feedback control method to reduce driver workload and improve driving performance by considering input saturation. The driver–vehicle system model is developed by considering tire cornering stiffness uncertainties and different driver parameter uncertainties. Meanwhile, the input saturation is also considered in the driver-vehicle system. A quadratic Lyapunov function is designed to solve the optimization problem with uncertainties and input saturation. The results, which are based on the MATLAB-CarSim co-simulation platform, indicate that the robust controller not only improves the convergence rate of the state but also reduces the steering workload of the driver.

scholarly journals Disturbance Observer-Based Adaptive Control of Hypersonic Vehicles with Constrained Actuators

2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Guan Wang ◽  
Li Li ◽  
Weihua Li ◽  
Huajun Zhou ◽  
Changbo Ma ◽  
...  
Keyword(s):  
Disturbance Observer ◽  
Input Saturation ◽  
Adaptive Controller ◽  
Hypersonic Vehicles ◽  
Control Allocation ◽  
External Disturbances ◽  
Nonlinear Disturbance Observer ◽  
Aerodynamic Control ◽  
Actuator Constraints ◽  
Control Surfaces

This study investigates an adaptive controller for the flexible air-breathing hypersonic vehicles (AHVs) subject to external disturbances and actuator constraints. The combination of nonlinear disturbance observer and adaptive mechanism is exploited to design an adaptive controller for each subsystem. For the velocity subsystem, an auxiliary system is employed to handle the scramjet input saturation issue. For the altitude subsystem, the magnitude/rate constraints and the dynamics of aerodynamic control surfaces are addressed by the control allocation module. Simulations show the effectiveness of the proposed control.

scholarly journals Adaptive Neural Output Feedback Control for Uncertain Robot Manipulators with Input Saturation

Complexity ◽  
2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
Rong Mei ◽  
ChengJiang Yu
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Disturbance Observer ◽  
Robot Manipulators ◽  
External Disturbance ◽  
Input Saturation ◽  
Output Feedback Control ◽  
System State ◽  
Control Scheme ◽  
Uncertain Robot

This paper presents an adaptive neural output feedback control scheme for uncertain robot manipulators with input saturation using the radial basis function neural network (RBFNN) and disturbance observer. First, the RBFNN is used to approximate the system uncertainty, and the unknown approximation error of the RBFNN and the time-varying unknown external disturbance of robot manipulators are integrated as a compounded disturbance. Then, the state observer and the disturbance observer are proposed to estimate the unmeasured system state and the unknown compounded disturbance based on RBFNN. At the same time, the adaptation technique is employed to tackle the control input saturation problem. Utilizing the estimate outputs of the RBFNN, the state observer, and the disturbance observer, the adaptive neural output feedback control scheme is developed for robot manipulators using the backstepping technique. The convergence of all closed-loop signals is rigorously proved via Lyapunov analysis and the asymptotically convergent tracking error is obtained under the integrated effect of the system uncertainty, the unmeasured system state, the unknown external disturbance, and the input saturation. Finally, numerical simulation results are presented to illustrate the effectiveness of the proposed adaptive neural output feedback control scheme for uncertain robot manipulators.

Disturbance observer-based output feedback control for uncertain QUAVs with input saturation

2020 ◽  
Vol 413 ◽  
pp. 96-106
Author(s):  
Rui Meng ◽  
Shuzong Chen ◽  
Changchun Hua ◽  
Junlei Qian ◽  
Jie Sun
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Disturbance Observer ◽  
Input Saturation ◽  
Output Feedback Control

Output feedback control of integrator systems with disturbance and input saturation

2020 ◽  
Vol 357 (14) ◽  
pp. 9330-9350 ◽  
Author(s):  
Yize Mi ◽  
Jianyong Yao ◽  
Wenxiang Deng ◽  
Yihan Xie
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Input Saturation ◽  
Output Feedback Control
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