scholarly journals Output feedback control of nonlinear systems with uncertain ISS/iISS supply rates and noises

2014 ◽  
Vol 19 (2) ◽  
pp. 286-299 ◽  
Author(s):  
Xin Yu ◽  
Guohai Liu
Keyword(s):  
Feedback Control ◽  
Nonlinear Systems ◽  
Output Feedback ◽  
Closed Loop ◽  
Inverse Dynamics ◽  
Output Feedback Control ◽  
Reduced Order ◽  
Output Feedback Controller ◽  
Control Scheme ◽  
Reduced Order Observer

This paper considers the problem of global output feedback control for a class of nonlinear systems with inverse dynamics. The main contribution of paper is that: For the inverse dynamics with uncertain ISS/iISS supply rates, and the systems being disturbed by L2 noises, we construct a reduced-order observer-based output feedback controller, which drives the output of system to zero and maintain other closed-loop signals bounded. Finally, a simulation example shows the effectiveness of the control scheme.

Delayed Output Feedback Control for Nonlinear Systems With Fuzzy Observers

2012 ◽  
Author(s):  
Mansour Karkoub ◽  
Tzu Sung Wu
Keyword(s):  
Feedback Control ◽  
Nonlinear System ◽  
Nonlinear Systems ◽  
Output Feedback ◽  
Tracking Error ◽  
Sufficient Conditions ◽  
Output Feedback Control ◽  
Linear Matrix ◽  
External Disturbances ◽  
Control Scheme

In this paper, the design problem of delayed output feedback control scheme using two-layer interval fuzzy observers for a class of nonlinear systems with state and output delays is investigated. The Takagi-Sugeno type fuzzy linear model with an on-line update law is used to approximate the nonlinear system. Based on the fuzzy model, a two-layer interval fuzzy observer is used to reconstruct the system states according to equal interval output time delay slices. Subsequently, a delayed output feedback adaptive fuzzy controller is developed to override the nonlinearities, time delays, and external disturbances such that the H∞ tracking performance is achieved. The linguistic information is developped by setting the membership functions of the fuzzy logic system and the adaptation parameters to estimate the model uncertainties directly for using linear analytical results instead of estimating nonlinear system functions. The filtered tracking error dynamics are designed to satisfy the Strictly Positive Realness (SPR) condition. Based on the Lyapunov stability criterion and linear matrix inequalities (LMIs), some sufficient conditions are derived so that all states of the system are uniformly ultimately bounded and the effect of the external disturbances on the tracking error can be attenuated to any prescribed level and consequently an H∞ tracking control is achieved. Finally, a numerical example of a two-link robot manipulator is given to illustrate the effectiveness of the proposed control scheme.

Output Feedback Regulation Control for a Class of Uncertain Nonlinear Systems

2015 ◽  
Vol 137 (4) ◽  
Author(s):  
Jiangbo Yu ◽  
Jizhong Wang ◽  
Changxue Zhang ◽  
Yuqiang Wu
Keyword(s):  
Nonlinear Systems ◽  
Output Feedback ◽  
Output Feedback Control ◽  
Feedback Regulation ◽  
Reduced Order ◽  
Closed Loop Systems ◽  
Dynamic Uncertainty ◽  
Control Schemes ◽  
Reduced Order Observer ◽  
Feedback Control Strategy

This paper investigates the global regulation problem for a class of nonlinear systems with integral input-to-state stable (iISS) dynamic uncertainty. By designing a reduced-order observer, a systematic output feedback control strategy is proposed. The designed dynamic controller can achieve the global set-point regulation control and guarantee all signals of the closed-loop systems bounded. The developed control schemes find its application in the pendulum control system. Simulation results verify its effectiveness.

scholarly journals Adaptive Output Feedback Control for a Class of Stochastic Nonlinear Systems with SiISS Inverse Dynamics

2012 ◽  
Vol 2012 ◽  
pp. 1-15 ◽  
Author(s):  
Na Duan ◽  
Hai-Kuan Liu
Keyword(s):  
Nonlinear Systems ◽  
Output Feedback ◽  
Closed Loop ◽  
Inverse Dynamics ◽  
Output Feedback Control ◽  
Stochastic Nonlinear Systems ◽  
Adaptive Stabilization ◽  
Adaptive Output Feedback Control ◽  
Lasalle Theorem ◽  
Small Gain

The adaptive stabilization scheme based on tuning function for stochastic nonlinear systems with stochastic integral input-to-state stability (SiISS) inverse dynamics is investigated. By combining the stochastic LaSalle theorem and small-gain type conditions on SiISS, an adaptive output feedback controller is constructively designed. It is shown that all the closed-loop signals are bounded almost surely and the stochastic closed-loop system is globally stable in probability.

scholarly journals Finite-Time Sliding Mode Control Design for Unknown Nonaffine Pure-Feedback Systems

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Jun Zhou ◽  
Xianqiang Li
Keyword(s):  
Feedback Control ◽  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Output Feedback ◽  
Finite Time ◽  
Sliding Mode ◽  
Output Feedback Control ◽  
Finite Time Convergence ◽  
Mode Control ◽  
Control Scheme

A class of unknown nonaffine pure-feedback nonlinear systems is investigated and a novel output feedback control scheme with low complexity is proposed, based on the sliding mode control theory. The scheme is capable of guaranteeing output tracking error with finite-time convergence and bounded closed loop signals. In this scheme, a novel transformation method is included, which can easily transform the state-feedback control of nonaffine systems into output feedback control of strict-feedback affine systems. Based on the transformed affine systems, a novel finite-time sliding mode control is designed, which is continuous and nonsingular. The control scheme proposed in this work is simple and easy to implement, in which the ‘‘explosion of complexity’’ caused by backstepping-like scheme is completely avoided. And the finite-time convergence is successfully achieved. In addition, the scheme is designed based on output feedback control. And the dynamics of the nonaffine nonlinear systems is unknown in the design process. Thus, the system knowledge needed is reduced.

Output Regulation for Output Feedback Systems With iISS Inverse Dynamics

2011 ◽  
Vol 133 (4) ◽  
Author(s):  
Dabo Xu ◽  
Jie Huang
Keyword(s):  
Feedback Control ◽  
Nonlinear Systems ◽  
Output Feedback ◽  
Inverse Dynamics ◽  
Output Feedback Control ◽  
Output Regulation ◽  
Feedback Systems ◽  
Robust Output Regulation ◽  
Output Regulation Problem

This paper develops an approach to dealing with the global robust output regulation problem for a class of nonlinear systems with integral input-to-state stable (iISS) inverse dynamics by using output feedback control. As iISS condition is strictly weaker than the ISS condition, the result of this paper applies to a larger class of nonlinear systems.

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