Robust Adaptive Output Feedback Control for a Class of Underactuated Aerial Vehicles with Input and Output Constraints

This paper addresses the problem of nonlinear robust adaptive output feedback controller for a class of underactuated aerial vehicles with input and output constraints. To solve the problem, the modular design strategy is proposed for the control design. By using the neural networks (NNs) to approximate system uncertainties and observers to reconstruct system states, robust adaptive output feedback controllers are developed. By using a combination of saturation functions and barrier functions, input and output constraints are simultaneously dealt with. The design methodology shows that a cascaded system of an input-to-state stable (ISS) subsystem driven by an ultimate bounded (UB) subsystem enjoys ultimate boundedness property. In addition, the tracking error converges to adjustable neighbourhoods of the origin.

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Adaptive output feedback control for a class of uncertain non-strict feedback systems with asymmetric time-varying output constraints

Advances in Mechanical Engineering ◽

10.1177/1687814020958829 ◽

2020 ◽

Vol 12 (9) ◽

pp. 168781402095882

Author(s):

Min Wan ◽

Shanshan Huang

Keyword(s):

Feedback Control ◽

Output Feedback ◽

Tracking Error ◽

Output Feedback Control ◽

Time Varying ◽

Dynamic Surface ◽

Adaptive Output Feedback Control ◽

Output Constraints ◽

Fuzzy State ◽

Strict Feedback

This study investigated a novel adaptive output feedback control scheme for non-strict feedback nonlinear systems with uncertainties, disturbances, and asymmetric time-varying output constraints. Because that the states of the system are unmeasurable, we used an adaptive fuzzy state observer to obtain the estimated values of the states. To make the output and tracking error satisfy their asymmetric time-varying constraints, an asymmetric time-varying barrier Lyapunov function was adopted. To overcome the “explosion of complexity” problem, we also adopted the dynamic surface control technology. The stability of the closed-loop system was proved by the Lyapunov method, and we give two simulation examples to show the effectiveness of the proposed control method.

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Fuzzy adaptive event-triggered output feedback control for nonlinear systems with tracking error constrained and unknown dead-zone

International Journal of Systems Science ◽

10.1080/00207721.2021.1913663 ◽

2021 ◽

pp. 1-16

Author(s):

Kunting Yu ◽

Yongming Li

Keyword(s):

Feedback Control ◽

Nonlinear Systems ◽

Output Feedback ◽

Dead Zone ◽

Tracking Error ◽

Output Feedback Control ◽

Event Triggered ◽

Fuzzy Adaptive

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Adaptive Fuzzy Output-Feedback Control Design for a Class of p-Norm Stochastic Nonlinear Systems With Output Constraints

IEEE Transactions on Circuits and Systems I Regular Papers ◽

10.1109/tcsi.2021.3063084 ◽

2021 ◽

pp. 1-13

Author(s):

Liandi Fang ◽

Shihong Ding ◽

Ju H. Park ◽

Li Ma

Keyword(s):

Feedback Control ◽

Nonlinear Systems ◽

Output Feedback ◽

Output Feedback Control ◽

Control Design ◽

Stochastic Nonlinear Systems ◽

Adaptive Fuzzy ◽

Output Constraints

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Robust adaptive output feedback control of nonlinear systems without persistence of excitation

Automatica ◽

10.1016/s0005-1098(97)00117-9 ◽

1997 ◽

Vol 33 (11) ◽

pp. 2025-2032 ◽

Cited By ~ 48

Author(s):

Bader Aloliwi ◽

Hassan K. Khalil

Keyword(s):

Feedback Control ◽

Nonlinear Systems ◽

Output Feedback ◽

Output Feedback Control ◽

Adaptive Output Feedback Control ◽

Robust Adaptive

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Adaptive robust output feedback control for attitude tracking of quadrotor unmanned aerial vehicles

International Journal of Adaptive Control and Signal Processing ◽

10.1002/acs.3309 ◽

2021 ◽

Author(s):

Zi‐Jiang Yang

Keyword(s):

Feedback Control ◽

Unmanned Aerial Vehicles ◽

Output Feedback ◽

Output Feedback Control ◽

Aerial Vehicles ◽

Attitude Tracking ◽

Quadrotor Unmanned Aerial Vehicles

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Adaptive Output Feedback Control for A Class of Nonlinear Time-Delay Systems with Input and Output Quantization

2018 37th Chinese Control Conference (CCC) ◽

10.23919/chicc.2018.8482901 ◽

2018 ◽

Author(s):

Junyong Zhai ◽

Yi Zhu

Keyword(s):

Time Delay ◽

Feedback Control ◽

Output Feedback ◽

Output Feedback Control ◽

Delay Systems ◽

Time Delay Systems ◽

Input And Output ◽

Adaptive Output Feedback Control

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Particle swarm optimization-tuned adaptive fuzzy output feedback motion tracking control of piezo-positioning mechanism with unknown hysteresis

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331218817094 ◽

2019 ◽

Vol 41 (10) ◽

pp. 2897-2908 ◽

Cited By ~ 1

Author(s):

Mohsen Hasanpour Naseriyeh ◽

Adeleh Arabzadeh Jafari ◽

Mehrnoosh Zaeifi ◽

Seyed Mohammad Ali Mohammadi

Keyword(s):

Particle Swarm Optimization ◽

Output Feedback ◽

Motion Tracking ◽

Tracking Error ◽

Particle Swarm ◽

Small Neighborhood ◽

Output Feedback Control ◽

Fuzzy Logic Systems ◽

Swarm Optimization ◽

Adaptive Fuzzy

This paper considers the problem of observer-based adaptive fuzzy output feedback control for a piezo-positioning mechanism with unknown hysteresis. In this paper, fuzzy logic systems (FLSs) are used to estimate the unknown nonlinear functions, and also Nussbaum function is utilized to overcome the unknown direction hysteresis. Based on the Lyapunov method, the control scheme is constructed by using the backstepping and adaptive technique. In order to better control performance in reducing tracking error, the particle swarm optimization (PSO) algorithm is utilized for tuning the controller parameters. Proposed adaptive controller guarantees that all the closed-loop signals are semiglobally uniformly ultimately bounded (SGUUB) and the tracking error can converge to a small neighborhood of the origin. Finally, the simulation results are provided to demonstrate the effectiveness and robustness of the proposed approach.

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