Fixed-time tracking control for two-link rigid manipulator based on disturbance observer

2021 ◽  
pp. 014233122098363
Author(s):  
Heli Gao ◽  
Mou Chen
Keyword(s):  
Numerical Simulations ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Inverse Dynamics ◽  
External Disturbance ◽  
Lyapunov Stability Theory ◽  
Fixed Time ◽  
Extended State

This paper studies the fixed-time disturbance estimate and tracking control for two-link manipulators subjected to external disturbance. A fixed-time extended-state disturbance observer (FxTESDO) is proposed by improving the extended state observer. Also, a fixed-time inverse dynamics tracking control (FxTIDTC) scheme based on the FxTESDO is given for two-link manipulators. The fixed-time convergence of the FxTESDO and FxTIDTC is proved by the Lyapunov stability theory and with the aid of the bi-limit homogeneous technique. Numerical simulations are employed to illustrate the effectiveness of the proposed FxTIDTC.

scholarly journals Pinning synchronization of the drive and response dynamical networks with lag

2014 ◽  
Vol 24 (3) ◽  
pp. 257-270 ◽  
Author(s):  
Bohui Wen ◽  
Mo Zhao ◽  
Fanyu Meng
Keyword(s):  
Numerical Simulations ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Lyapunov Stability Theory ◽  
Schur Complement ◽  
Pinning Control ◽  
Lag Synchronization ◽  
Dynamical Networks ◽  
General Complex ◽  
Minimum Number

Abstract This paper investigates the pinning synchronization of two general complex dynamical networks with lag. The coupling configuration matrices in the two networks are not need to be symmetric or irreducible. Several convenient and useful criteria for lag synchronization are obtained based on the lemma of Schur complement and the Lyapunov stability theory. Especially, the minimum number of controllers in pinning control can be easily obtained. At last, numerical simulations are provided to verify the effectiveness of the criteria

Nonlinear Control Law Design for Lateral Aircraft Dynamics at High Angles of Attack

2013 ◽  
Vol 325-326 ◽  
pp. 1210-1214
Author(s):  
Costin Ene
Keyword(s):  
Numerical Simulations ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Nonlinear Behavior ◽  
Lyapunov Stability Theory ◽  
Control Law ◽  
Adaptive Backstepping ◽  
Type Design ◽  
Nonlinear Control Law ◽  
High Angles Of Attack

In this paper, an adaptive backstepping type design is proposed to control the complex nonlinear behavior of the wing rock phenomenon. This method, based on Lyapunov stability theory, can simultaneouslyachieve parameters identification and control.Finally numerical simulations are presented to justify the effectiveness of the proposed controller.

scholarly journals Generalized synchronization of identical and nonidentical chaotic dynamical systems via master approaches

2017 ◽  
Vol 7 (3) ◽  
pp. 248-254
Author(s):  
Shko Ali-Tahir ◽  
Murat Sari ◽  
Abderrahman Bouhamidi
Keyword(s):  
Dynamical Systems ◽  
Numerical Simulations ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Lyapunov Stability Theory ◽  
Generalized Synchronization ◽  
Chaotic Dynamical Systems

The main objective of this work is to discuss a generalized synchronization of a coupled chaotic identicaland nonidentical dynamical systems. We propose a method used to study generalized synchronization in masterslavesystems. This method, is based on the classical Lyapunov stability theory, utilizes the master continuous timechaotic system to monitor the synchronized motions. Various numerical simulations are performed to verify theeffectiveness of the proposed approach.

scholarly journals Adaptive Control Design for Arneodo Chaotic System with Uncertain Parameters and Input Saturation

2020 ◽  
Vol 2020 ◽  
pp. 1-8
Author(s):  
Chunhua Cheng ◽  
Fengjuan Gao ◽  
Jingshuo Xu ◽  
Yuanxin Wang ◽  
Tao Yuan
Keyword(s):  
Chaotic System ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Tracking Control ◽  
Input Saturation ◽  
Lyapunov Stability Theory ◽  
Control Law ◽  
Uncertain Parameters ◽  
Adaptive Tracking Control ◽  
Adaptive Tracking

In this paper, tracking controller and synchronization controller of the Arneodo chaotic system with uncertain parameters and input saturation are considered. An adaptive tracking control law and an adaptive synchronization control law are proposed based on backstepping and Lyapunov stability theory. The adaptive laws of the unknown parameters are derived by using the Lyapunov stability theory. To handle the effect caused by the input saturation, an auxiliary system is used to compensate the tracking error and synchronization error. The proposed adaptive tracking control and synchronization schemes ensure the effects of tracking and synchronization. Several examples have been detailed to illuminate the design procedure.

scholarly journals Robust Synchronization of Hyperchaotic Systems with Uncertainties and External Disturbances

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
Qing Wang ◽  
Yongguang Yu ◽  
Hu Wang
Keyword(s):  
Numerical Simulations ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Lyapunov Stability Theory ◽  
Convergence Speed ◽  
External Disturbances ◽  
Adaptive Controllers ◽  
Robust Synchronization ◽  
Hyperchaotic Systems

The robust synchronization of hyperchaotic systems with uncertainties and external disturbances is investigated. Based on the Lyapunov stability theory, the appropriate adaptive controllers and parameter update laws are designed to achieve the synchronization of uncertain hyperchaotic systems. The robust synchronization of two hyperchaotic Chen systems is taken as an example to verify the feasibility of the presented schemes. The size of the subcontroller gain’s influences on the convergence speed is discussed. Finally, numerical simulations are given to demonstrate the effectiveness of the proposed synchronization schemes.

scholarly journals The Synchronization of N Cascade-Coupled Chaotic Systems

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-10 ◽  
Author(s):  
Pengyu Li ◽  
Juan Du ◽  
Shouliang Li ◽  
Yazhao Zheng ◽  
Bowen Jia
Keyword(s):  
Numerical Simulations ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Chaotic Systems ◽  
Lyapunov Stability Theory ◽  
General Criterion ◽  
Synchronization Method ◽  
Bidirectional Coupling ◽  
Coupling Parameters

In this paper, we investigate a novel synchronization method, which consists of nn≥2 cascade-coupled chaotic systems. Furthermore, as the number of chaotic systems decreases from n to 2, the proposed synchronization will transform into bidirectional coupling synchronization. Based on Lyapunov stability theory, a general criterion is proposed for choosing the appropriate coupling parameters to ensure cascading synchronization. Moreover, 4 Lü systems are taken as an example and the corresponding numerical simulations demonstrate the effectiveness of our idea.

DIGITAL CRYPTOGRAPHY AND FEEDBACK SYNCHRONIZATION OF CHAOTIC SYSTEMS

2011 ◽  
Vol 25 (04) ◽  
pp. 521-529 ◽  
Author(s):  
MALA MITRA ◽  
SANTO BANERJEE
Keyword(s):  
Numerical Simulations ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Chaotic Systems ◽  
Coupled System ◽  
Lyapunov Stability Theory ◽  
Chaotic Synchronization ◽  
Feedback Controller ◽  
New Method ◽  
Secure Communications

Secure communications via chaotic synchronization is demonstrated in this literature. At first we have designed a feedback controller for chaotic synchronization utilizing the Lyapunov stability theory for cascade-connected systems.The method has been applied successfully to make two identical systems globally asymptotically synchronized. The result of numerical simulations are given to validate the effectiveness of this method. Then we have discussed a new method of cryptography for this coupled system which is very simple to implement and effective.

scholarly journals Adaptive Synchronization of Complex Dynamical Multilinks Networks with Similar Nodes

2013 ◽  
Vol 2013 ◽  
pp. 1-12 ◽  
Author(s):  
Weiping Wang ◽  
Lixiang Li ◽  
Haipeng Peng ◽  
Jialiang Yuan ◽  
Jinghua Xiao ◽  
...  
Keyword(s):  
Numerical Simulations ◽  
Lyapunov Stability ◽  
Real World ◽  
Stability Theory ◽  
Lyapunov Stability Theory ◽  
Complex Dynamical Networks ◽  
Adaptive Synchronization ◽  
Definition Of ◽  
First Time ◽  
Theoretical Results

This paper studies the synchronization of complex dynamical networks with multilinks and similar nodes. The dynamics of all the nodes in the networks are impossible to be completely identical due to the differences of parameters or the existence of perturbations. Networks with similar nodes are universal in the real world. In order to depict the similarity of the similar nodes, we give the definition of the minimal similarity of the nodes in the network for the first time. We find the threshold of the minimal similarity of the nodes in the network. If the minimal similarity of the nodes is bigger than the threshold, then the similar nodes can achieve synchronization without controllers. Otherwise, adaptive synchronization method is adopted to synchronize similar nodes in the network. Some new synchronization criteria are proposed based on the Lyapunov stability theory. Finally, numerical simulations are given to illustrate the feasibility and the effectiveness of the proposed theoretical results.

IMPULSIVE SYNCHRONIZATION OF HYPERCHAOTIC LÜ SYSTEM

2011 ◽  
Vol 25 (27) ◽  
pp. 3671-3678 ◽  
Author(s):  
XING-YUAN WANG ◽  
MING-JUN WANG
Keyword(s):  
Numerical Simulations ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Sufficient Conditions ◽  
Lyapunov Stability Theory ◽  
Impulsive Synchronization ◽  
Lü System ◽  
Feedback Strength ◽  
Hyperchaotic Lu System ◽  
Lu System

In this paper, the impulsive synchronization of hyperchaotic Lü systems is discussed. The sufficient conditions on feedback strength and impulsive interval are established to guarantee the synchronization. The method is proved true by Lyapunov stability theory. In addition, a scheme of impulsive synchronization via transmitting single signal is presented. Numerical simulations show the effectiveness of the methods.

Dual Combination Synchronization of Six Chaotic Systems

2015 ◽  
Vol 11 (3) ◽  
Author(s):  
Junwei Sun ◽  
Suxia Jiang ◽  
Guangzhao Cui ◽  
Yanfeng Wang
Keyword(s):  
Adaptive Control ◽  
Numerical Simulations ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Chaotic Systems ◽  
Sufficient Conditions ◽  
Lyapunov Stability Theory ◽  
Combination Synchronization

Based on combination synchronization of three chaotic systems and combination–combination synchronization of four chaotic systems, a novel scheme of dual combination synchronization is investigated for six chaotic systems in the paper. Using combined adaptive control and Lyapunov stability theory of chaotic systems, some sufficient conditions are attained to realize dual combination synchronization of six chaotic systems. The corresponding theoretical proofs and numerical simulations are presented to demonstrate the effectiveness and correctness of the dual combination synchronization. Due to the complexity of dual combination synchronization, it will be more secure and interesting to transmit and receive signals in application of communication.

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