scholarly journals Adaptive Fuzzy Cooperative Control for Nonlinear Multiagent Systems with Unknown Control Coefficient and Actuator Fault

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Xin Deng ◽  
Xiaoping Liu ◽  
Yang Cui ◽  
Cungen Liu
Keyword(s):  
Multiagent Systems ◽  
Cooperative Control ◽  
Control Method ◽  
Nonlinear Function ◽  
Backstepping Control ◽  
Control Technique ◽  
Actuator Fault ◽  
Control Coefficient ◽  
Adaptive Fuzzy ◽  
Unknown Control

In this paper, an adaptive fuzzy containment condtrol is considered for nonlinear multiagent systems, in which it contains the unknown control coefficient and actuator fault. The uncertain nonlinear function has been approximated by fuzzy logic system (FLS). The unknown control coefficient and the remaining control rate of actuator fault can be solved by introducing a Nussbaum function. In order to avoid the repeated differentiations of the virtual controllers, first-order filters are added to the traditional backstepping control method. By designing the maximum norm of ideal adaptive parameters, only one adaptive parameter needs to be adjusted online for each agent itself. An adaptive fuzzy containment controller is constructed through the backstepping control technique and compensating signals. It is demonstrated that all the signals in nonlinear multiagent systems are bounded by designing adaptive fuzzy containment controller, and all followers can converge to the convex hull built by the leaders. The simulation studies can further confirm the effectiveness of the proposed control method in this paper.

Tracking Control Design for Quadrotor Unmanned Aerial Vehicle

2017 ◽  
Vol 67 (3) ◽  
pp. 245 ◽  
Author(s):  
Sudhir Nadda ◽  
A. Swarup
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Control Strategy ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Backstepping Control ◽  
Control Technique ◽  
Quadrotor Uav ◽  
Attitude Tracking ◽  
Aerial Vehicle

The model of a quadrotor unmanned aerial vehicle (UAV) is nonlinear and dynamically unstable. A flight controller design is proposed on the basis of Lyapunov stability theory which guarantees that all the states remain and reach on the sliding surfaces. The control strategy uses sliding mode with a backstepping control to perform the position and attitude tracking control. This proposed controller is simple and effectively enhance the performance of quadrotor UAV. In order to demonstrate the robustness of the proposed control method, White Gaussian Noise and aerodynamic moment disturbances are taken into account. The performance of the nonlinear control method is evaluated by comparing the performance with developed linear quadratic regulator and existing backstepping control technique and proportional-integral-derivative from the literature. The comparative performance results demonstrate the superiority and effectiveness of the proposed control strategy for the quadrotor UAV.

scholarly journals Command Filtered Adaptive Fuzzy Neural Network Backstepping Control for Marine Power System

2014 ◽  
Vol 2014 ◽  
pp. 1-6 ◽  
Author(s):  
Xin Zhang ◽  
Longhua Mu
Keyword(s):  
Neural Network ◽  
Power System ◽  
Fuzzy Neural Network ◽  
Control Method ◽  
Chaotic Oscillation ◽  
Lyapunov Stability Theory ◽  
Backstepping Control ◽  
Adaptive Fuzzy Neural Network ◽  
Adaptive Fuzzy ◽  
Fuzzy Neural

In order to retrain chaotic oscillation of marine power system which is excited by periodic electromagnetism perturbation, a novel command-filtered adaptive fuzzy neural network backstepping control method is designed. First, the mathematical model of marine power system is established based on the two parallel nonlinear model. Then, main results of command-filtered adaptive fuzzy neural network backstepping control law are given. And the Lyapunov stability theory is applied to prove that the system can remain closed-loop asymptotically stable with this controller. Finally, simulation results indicate that the designed controller can suppress chaotic oscillation with fast convergence speed that makes the system return to the equilibrium point quickly; meanwhile, the parameter which induces chaotic oscillation can also be discriminated.

scholarly journals Adaptive Fuzzy Backstepping Control of MEMS Gyroscope Using Dynamic Sliding Mode Approach

2015 ◽  
Vol 44 (4) ◽  
pp. 380-386
Author(s):  
Yunmei Fang ◽  
Zhuli Yuan ◽  
Juntao Fei
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Backstepping Control ◽  
Control Input ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Dynamic Sliding Mode Control ◽  
Micro Electromechanical System ◽  
Dynamic Sliding Mode

In this paper, a dynamic sliding mode control using adaptive fuzzy backstepping (DSMCAFB) approach for a micro-electromechanical system (MEMS) vibratory z-axis gyroscope is presented. Based on an adaptive fuzzy backstepping control method, a dynamic sliding mode control is proposed to compensate and adjust the external disturbances and model uncertainties. The fuzzy control method with adaptive backstepping control design can avoid depending on the system model and approximate the system nonlinearities well. What’s more ,it can make the controller have the ability to learn and adjust the fuzzy parameters in real time. In addition, dynamic sliding mode control can transfer discontinuous terms to the first-order derivative of the control input in order to effectively reduce the chattering. The simulation studies are investigated to demonstrate the satisfactory performance of the proposed method.DOI: http://dx.doi.org/10.5755/j01.itc.44.4.9110

Command filtered adaptive fuzzy backstepping control method of uncertain non-linear systems

2016 ◽  
Vol 10 (10) ◽  
pp. 1134-1141 ◽  
Author(s):  
Yongchao Wang ◽  
Feixiong Yu ◽  
Xiaoxiang Hu ◽  
Shengxiu Zhang ◽  
Lijia Cao
Keyword(s):  
Linear Systems ◽  
Control Method ◽  
Backstepping Control ◽  
Adaptive Fuzzy ◽  
Non Linear ◽  
Non Linear Systems

scholarly journals Fuzzy-Based Distributed Cooperative Secondary Control with Stability Analysis for Microgrids

Electronics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 399
Author(s):  
Mahmuda Begum ◽  
Mohsen Eskandari ◽  
Mohammad Abuhilaleh ◽  
Li Li ◽  
Jianguo Zhu
Keyword(s):  
Control System ◽  
Stability Analysis ◽  
Cooperative Control ◽  
Dynamic Behaviour ◽  
Reactive Power ◽  
Control Method ◽  
Power Sharing ◽  
System Stability ◽  
Control Technique ◽  
Secondary Control

This research suggests a novel distributed cooperative control methodology for a secondary controller in islanded microgrids (MGs). The proposed control technique not only brings back the frequency/voltage to its reference values, but also maintains precise active and reactive power-sharing among distributed generation (DG) units by means of a sparse communication system. Due to the dynamic behaviour of distributed secondary control (DSC), stability issues are a great concern for a networked MG. To address this issue, the stability analysis is undertaken systematically, utilizing the small-signal state-space linearized model of considering DSC loops and parameters. As the dynamic behaviour of DSC creates new oscillatory modes, an intelligent fuzzy logic-based parameter-tuner is proposed for enhancing the system stability. Accurate tuning of the DSC parameters can develop the functioning of the control system, which increases MG stability to a greater extent. Moreover, the performance of the offered control method is proved by conducting a widespread simulation considering several case scenarios in MATLAB/Simscape platform. The proposed control method addresses the dynamic nature of the MG by supporting the plug-and-play functionality, and working even in fault conditions. Finally, the convergence and comparison study of the offered control system is shown.

Backstepping Control for Synchronizing Fractional-Order Chaotic Systems

2018 ◽  
pp. 129-165
Author(s):  
Amina Boubellouta
Keyword(s):  
Fractional Order ◽  
Control Method ◽  
Nonlinear Function ◽  
Backstepping Control ◽  
Projective Synchronization ◽  
Loop Control ◽  
Loop Control System ◽  
The Stability ◽  
Synchronization Scheme ◽  
Fuzzy Adaptive

In this chapter, one develops a fuzzy adaptive backstepping control-based projective synchronization scheme of a class of uncertain fractional-order nonlinear systems with unknown external disturbances. In each step, an uncertain nonlinear function is online modeled via a fuzzy logic system, and a virtual control term is determined based on the fractional Lyapunov stability. At the final step, a fuzzy adaptive control law ensuring the convergence of the projective synchronization error as well as the stability of the closed-loop control system is derived. Numerical simulations given at the end of this chapter confirm well the effectiveness of the proposed control method.

scholarly journals Based on fuzzy-approximation adaptive backstepping control method for dual-arm of humanoid robot with trajectory tracking

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141983190 ◽  
Author(s):  
Keqiang Bai ◽  
Guoli Jiang ◽  
Guanwu Jiang ◽  
Zhigui Liu
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Humanoid Robot ◽  
Control Method ◽  
Backstepping Control ◽  
Adaptive Backstepping ◽  
Robot System ◽  
Adaptive Fuzzy ◽  
Fuzzy Approximation ◽  
Dual Arm

In this article, a fuzzy-approximation-based adaptive backstepping control method for dual-arm of a humanoid robot was proposed. The purpose of this control system is to provide coordinated movement assistance to enable the humanoid robot’s human-like forearm to grab objects coordinately (or track any continuous desired trajectory), even in the presence of environmental disturbances and parametric uncertainties. We analyze the proposed adaptive backstepping by mathematical modeling and actually measure the robot dual-arm motion information of a number of case when they simulate the trajectory to verify the model. We design the adaptive fuzzy-approximation control strategy and combining the synthesis of the robust design, backstepping control, and Lyapunov function method, the proposed adaptive fuzzy backstepping control does not need to know the humanoid robot’s arms model precisely. In the control system proposed here, once the desired trajectories of the robot’s dual-arm positions are given, the adaptive fuzzy system was closed to any unknown functions and to the derivative of the virtual control law of the humanoid robot system. In this case, a robust design scheme was utilized to compensate for any approximation errors. With the proposed trajectory tracking, not only able to generate the coordinate motions for a humanoid robot’s two arms, but it can also control the arms to move to the desired positions. The proposed closed-loop system under the adaptive fuzzy backstepping control design was effective and that asymptotic stability was successfully achieved. The adaptive fuzzy-approximation backstepping control strategy should be more complete and intelligent and more actual test should be conducted to further evaluate the effect of the proposed trajectory tracking. The instability of dual-arm of humanoid robot system is systematically analyzed and a backstepping control strategy based on the adaptive fuzzy-approximation to improve the continuity of trajectory tracking of the robot’s arms is proposed.

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