scholarly journals Finite-Time Output Feedback Control for a Rigid Hydraulic Manipulator System

2018 ◽  
Vol 2018 ◽  
pp. 1-9
Author(s):  
Yong-Sheng Hao ◽  
Zhi-Gang Su ◽  
Xiangyu Wang
Keyword(s):  
Output Feedback ◽  
Finite Time ◽  
Tracking Error ◽  
Output Feedback Control ◽  
Feedback Controller ◽  
Finite Time Stability ◽  
Output Feedback Controller ◽  
Analysis Process ◽  
Error System ◽  
Hydraulic Manipulator

The position tracking control problem of a hydraulic manipulator system is investigated. By utilizing homogeneity theory, a finite-time output feedback controller is designed. Firstly, a finite-time state feedback controller is developed based on homogeneity theory. Secondly, a nonlinear state observer is designed to estimate the manipulator’s velocity. A rigorous analysis process is presented to demonstrate the observer’s finite-time stability. Finally, the corresponding output feedback tracking controller is derived, which stabilizes the tracking error system in finite time. Simulations demonstrate the effectiveness of the designed finite-time output feedback controller.

Finite-time output feedback control for a pneumatic servo system

2016 ◽  
Vol 38 (12) ◽  
pp. 1520-1534 ◽  
Author(s):  
Xiangyu Wang ◽  
Guipu Li ◽  
Shihua Li ◽  
Aiguo Song
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Finite Time ◽  
Tracking Error ◽  
Output Feedback Control ◽  
Feedback Controller ◽  
Nonlinear Observer ◽  
Position Tracking ◽  
Piston Velocity ◽  
Control Scheme

In this paper, the position tracking control problem of pneumatic servo systems is investigated. These systems usually have high nonlinearities and unmeasurable piston velocities. Firstly, by using adding a power integrator technique, a global finite-time state feedback controller is proposed. Secondly, based on homogeneous theory, a nonlinear observer is developed to estimate the piston velocity. Finally, the corresponding output feedback controller is derived, which local finite-time stabilizes the position tracking error system. Compared with the conventional backstepping output feedback control scheme, the developed nonsmooth output feedback control scheme offers a faster convergence rate and a better disturbance rejection property. Numerical simulations illustrate the effectiveness of the proposed control scheme.

Approximation-Free Output-Feedback Control of Uncertain Nonlinear Systems Using Higher-Order Sliding Mode Observer

2018 ◽  
Vol 140 (12) ◽  
Author(s):  
Jang-Hyun Park ◽  
Seong-Hwan Kim ◽  
Tae-Sik Park
Keyword(s):  
Nonlinear Systems ◽  
Output Feedback ◽  
Finite Time ◽  
Sliding Mode ◽  
Tracking Error ◽  
Output Feedback Control ◽  
Fuzzy Logic Systems ◽  
Single Input Single Output ◽  
Finite Time Stability ◽  
Single Output

A novel output-feedback controller for uncertain single-input single-output (SISO) nonaffine nonlinear systems is proposed using high-order sliding mode (HOSM) observer, which is a robust exact finite-time convergent differentiator. The proposed controller utilizes (n + 1)th-order HOSM observer to cancel the uncertainty and disturbance where n is the relative degree of the controlled system. As a result, the control law has an extremely simple form of linear in the differentiator states. It is required no separate sliding-mode controller or universal approximators such as neural networks (NNs) or fuzzy logic systems (FLSs) that are adaptively tuned online. The proposed controller guarantees finite time stability of the output tracking error.

scholarly journals Approximation-Free Output-Feedback Non-Backstepping Controller for Uncertain SISO Nonautonomous Nonlinear Pure-Feedback Systems

Mathematics ◽  
2019 ◽  
Vol 7 (5) ◽  
pp. 456 ◽  
Author(s):  
Jang-Hyun Park ◽  
Tae-Sik Park ◽  
Seong-Hwan Kim
Keyword(s):  
Output Feedback ◽  
Finite Time ◽  
Sliding Mode ◽  
Tracking Error ◽  
Feedback Controller ◽  
Feedback Systems ◽  
Fuzzy Logic Systems ◽  
Output Feedback Controller ◽  
Control Scheme ◽  
Exponentially Stable

A novel differentiator-based approximation-free output-feedback controller for uncertain nonautonomous nonlinear pure-feedback systems is proposed. Using high-order sliding mode observer, which is a finite-time exact differentiator, the time-derivatives of the signal generated using tracking error and filtered input are directly estimated. As a result, the proposed non-backstepping control law and stability analysis are drastically simple. The tracking error vector is guaranteed to be exponentially stable in finite time regardless of the nonautonomous property in the considered system. It does not require neural networks or fuzzy logic systems, which are typically adopted to capture unstructured uncertainties intrinsic in the controlled system. As far as the authors know, there are no research results on the output-feedback controller for the uncertain nonautonomous pure-feedback nonlinear systems. The results of the simulation show clearly the performance and compactness of the control scheme proposed.

scholarly journals Finite-Time Output Feedback Controller Based on Observer for the Time-Varying Delayed Systems: A Moore-Penrose Inverse Approach

2017 ◽  
Vol 2017 ◽  
pp. 1-13 ◽  
Author(s):  
Cong-Trang Nguyen ◽  
Yao-Wen Tsai
Keyword(s):  
Asymptotic Stability ◽  
Output Feedback ◽  
Finite Time ◽  
Sliding Mode ◽  
Feedback Controller ◽  
Delay Systems ◽  
Linear Matrix ◽  
Invariance Property ◽  
Time Varying ◽  
Output Feedback Controller

This study proposes a novel variable structure control (VSC) for the mismatched uncertain systems with unknown time-varying delay. The novel VSC includes the finite-time convergence sliding mode, invariance property, asymptotic stability, and measured output only. A necessary and sufficient condition guaranteeing the existence of sliding surface is given. A novel lemma is established to deal with the control design problem for a wider class of time-delay systems. A suitable reduced-order observer (ROO) is constructed to estimate unmeasured state variables of the systems. A novel finite-time output feedback controller (FTOFC) is investigated, which is based on the ROO tool and the Moore-Penrose inverse technique. Moreover, with the help of this lemma and the proposed FTOFC, restrictions on most existing works are also eliminated. In addition, an asymptotic stability analysis is implemented by means of the feasibility of the linear matrix inequalities (LMIs) and given desirable sliding mode dynamics. Finally, a MATLAB simulation result on a numerical example is performed to show the effectiveness and advantage of the proposed method.

scholarly journals Finite-Time Boundedness Control for Nonlinear Networked Systems with Randomly Occurring Multi-Distributed Delays and Missing Measurements

2018 ◽  
Vol 2018 ◽  
pp. 1-13 ◽  
Author(s):  
Ling Hou ◽  
Dongyan Chen
Keyword(s):  
Output Feedback ◽  
Finite Time ◽  
Sufficient Conditions ◽  
Feedback Controller ◽  
Networked Systems ◽  
Distributed Delays ◽  
Linear Matrix ◽  
Missing Measurements ◽  
Output Feedback Controller ◽  
Boundedness Problem

This paper investigates the stochastic finite-time H∞ boundedness problem for nonlinear discrete time networked systems with randomly occurring multi-distributed delays and missing measurements. The randomly occurring multi-distributed delays and missing measurements are described as Bernoulli distributed white noise sequence. The goal of this paper is to design a full-order output-feedback controller to guarantee that the corresponding closed-loop system is stochastic finite-time H∞ bounded and with desired H∞ performance. By constructing a new Lyapunov-Krasovskii functional, sufficient conditions for the existence of output-feedback are established. The desired full-order output-feedback controller is designed in terms of the solution to linear matrix inequalities (LMIs). Finally, a numerical example is provided to show the validity of the designed method.

Output Feedback Attitude Tracking for Spacecraft Under Control Saturation and Disturbance

2015 ◽  
Vol 138 (1) ◽  
Author(s):  
Qinglei Hu ◽  
Boyan Jiang ◽  
Youmin Zhang
Keyword(s):  
Output Feedback ◽  
Finite Time ◽  
External Disturbance ◽  
Input Saturation ◽  
Control Input ◽  
Time Stability ◽  
Finite Time Stability ◽  
Output Feedback Controller ◽  
Attitude Tracking ◽  
Control Saturation

This paper proposes a class of velocity-free attitude stable controller using a novel finite-time observer for spacecraft attitude tracking, which explicitly takes into account control input saturation to assure fast and accurate response and to achieve effective compensation to the effect of external disturbance as well. First, a novel semiglobal finite-time convergent observer is proposed to estimate the angular velocity in a finite-time under external disturbance. Then, a simple global output feedback controller is proposed by adoption of the designed finite-time observer. Rigorous proofs show that the proposed observer can achieve the finite-time stability and the controller rigorously enforces actuator magnitude constraints. Numerical simulations illustrate the spacecraft performance obtained using the proposed controller.

ADAPTIVE OUTPUT FEEDBACK CONTROL FOR TRAJECTORY TRACKING OF AUV IN WAVE DISTURBANCE CONDITION

2013 ◽  
Vol 11 (03) ◽  
pp. 1350027 ◽  
Author(s):  
LIJUN ZHANG ◽  
XUE QI ◽  
YONGJIE PANG ◽  
DAPENG JIANG
Keyword(s):  
Output Feedback ◽  
Autonomous Underwater Vehicle ◽  
Direct Method ◽  
Output Feedback Control ◽  
Adaptive Controller ◽  
Feedback Controller ◽  
Wave Disturbance ◽  
Output Feedback Controller ◽  
Wave Disturbances ◽  
Control Scheme

This paper develops an adaptive output feedback controller that forces an autonomous underwater vehicle (AUV), named Omni-Directional Intelligent Navigator (ODIN), to track a desired trajectory with bounded errors in wave disturbance condition. An adaptive controller is introduced based on a nonlinear model whose measurable output is corrupted by wave disturbances. Thus an observer is built to reconstruct the full states including wave velocity, wave motion displacement, vehicles velocity, position and rotation angle information which are used in the output feedback controller. Ultimate boundedness of the error signals is shown through Lyapunovs direct method. Finally, simulation studies for ODIN illustrate the effectiveness of the proposed control scheme.

Adaptive output feedback control for a class of uncertain stochastic nonlinear systems

2021 ◽  
pp. 095965182110212
Author(s):  
Ce Liu ◽  
Junyong Zhai
Keyword(s):  
Nonlinear Systems ◽  
Output Feedback ◽  
Controller Design ◽  
Output Feedback Control ◽  
Feedback Controller ◽  
Stochastic Nonlinear Systems ◽  
Adding A Power Integrator ◽  
Output Feedback Controller ◽  
Barbalat’S Lemma ◽  
System States

This article concentrates on the output feedback controller design for a class of stochastic nonlinear systems with unknown homogeneous growth rates. First, a full-order observer is proposed coupling with a dynamic gain so as to obtain system state estimates. Then, an adaptive output feedback controller is put forward by the homogeneity theory and adding a power integrator technique. Combined with the stochastic Barbalat’s lemma, the signals of the closed-loop system are demonstrated to be bounded and all the system states are proved to converge to the origin in probability. Besides, the results are also expanded to the controller design of upper-triangular stochastic nonlinear system. Two simulation results indicate usefulness of the designed control algorithm.

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