scholarly journals Nonlinear-Observer-Based Design Approach for Adaptive Event-Driven Tracking of Uncertain Underactuated Underwater Vehicles

Mathematics ◽  
2021 ◽  
Vol 9 (10) ◽  
pp. 1144
Author(s):  
Jin Hoe Kim ◽  
Sung Jin Yoo
Keyword(s):  
Output Feedback ◽  
Degrees Of Freedom ◽  
Dimensional Space ◽  
Error Function ◽  
Tracking Error ◽  
Three Dimensional ◽  
Output Feedback Control ◽  
Underwater Vehicles ◽  
Nonlinear Observer ◽  
Event Driven

A nonlinear-observer-based design methodology is proposed for an adaptive event-driven output-feedback tracking problem with guaranteed performance of uncertain underactuated underwater vehicles (UUVs) in six-degrees-of-freedom (6-DOF). A nonlinear observer using adaptive neural networks is presented to estimate the velocity information in the presence of unknown nonlinearities in the dynamics of 6-DOF UUVs where a state transformation approach using a time-varying scaling factor is introduced. Then, an output-feedback tracker using a nonlinear error function and estimated states is recursively designed to overcome the underactuated problem of the system dynamics and to guarantee preselected control performance in three-dimensional space. It is shown that the tracking error of the nonlinear-observer-based output-feedback control system exponentially converges a small neighbourhood around the zero. Efficiency of the resulting output-feedback strategy is verified through a simulation.

scholarly journals Adaptive Event-Triggered Control Strategy for Ensuring Predefined Three-Dimensional Tracking Performance of Uncertain Nonlinear Underactuated Underwater Vehicles

Mathematics ◽  
2021 ◽  
Vol 9 (2) ◽  
pp. 137
Author(s):  
Jin Hoe Kim ◽  
Sung Jin Yoo
Keyword(s):  
Control Strategy ◽  
Dimensional Space ◽  
Error Function ◽  
Tracking Error ◽  
Three Dimensional ◽  
Underwater Vehicles ◽  
Tracking Performance ◽  
Control Scheme ◽  
Nonlinear Tracking ◽  
Event Triggered

This paper presents an adaptive event-triggered control strategy for guaranteeing predefined tracking performance of uncertain nonlinear underactuated underwater vehicles (UUVs) in the three-dimensional space. Compared with the related results in the literature, the main contribution of this paper is to develop a nonlinear error transformation approach for ensuring predefined three-dimensional tracking performance under the underactuated property of 6-DOF UUVs and limited network resources. A nonlinear tracking error function is designed using a linear velocity rotation matrix and a time-varying performance function. An adaptive event-triggered control scheme using the nonlinear tracking error function and neural networks is constructed to ensure the practical stability of the closed-loop system with predefined three-dimensional tracking performance. In the proposed control scheme, auxiliary stabilizing signals are designed to resolve the underactuated problem of UUVs. Simulation results are presented to illustrate the effectiveness of the theoretical methodology.

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.

Output feedback averaged sub-gradient integral sliding mode control to regulate the tridimensional autonomous motion of autonomous submersible vehicles

2021 ◽  
pp. 095965182110564
Author(s):  
Alejandra Hernández-Sánchez ◽  
Alexander Poznyak ◽  
Olga Andrianova ◽  
Isaac Chairez
Keyword(s):  
Output Feedback ◽  
Sliding Mode ◽  
Center Of Mass ◽  
Tracking Error ◽  
Three Dimensional ◽  
Output Feedback Control ◽  
Extremum Seeking ◽  
Integral Sliding Mode ◽  
Twisting Algorithm ◽  
Reference Trajectories

This study presents the development of an output feedback control for regulating the movement of an autonomous submersible vehicles in the tridimensional space. The controller formulation applies the Averaged Sub-Gradient Integral Sliding Mode which is fed with the estimation of the translational velocity states by a distributed super-twisting algorithm. The structure of the autonomous submersible vehicles dynamics permits the implementation of the ASG algorithm using the estimates of translation velocity. The proposed scheme solves a non-linear extremum seeking problem that aims to minimize a non-strictly convex function that depends on the tracking error defined by the difference of some suitable reference trajectories and the coordinates of the submarine center of mass. The desired reference trajectories were designed to force the autonomous submersible vehicles three-dimensional motion to a continuous circuit in an oscillating shape over the horizontal plane combined with a submersion on the z-axis. The comparison between the proposed controller, the ASG with complete knowledge of the states and the state feedback controller is presented. This comparison confirms the output feedback ASG controller forced the autonomous submersible vehicles to the desired trajectory with a notable difference in the magnitude of the control given the estimation of the states. These outcomes justify the potential contributions of the suggested ASG integrated with the super-twisting algorithm to obtain the local minimization of the evaluated functional depending on the tracking error. The results justify the potential contributions of the suggested ASG with the super-twisting algorithm to regulate the position of the autonomous submersible vehicles to the desired trajectory.

scholarly journals Robust and Optimal Output-Feedback Control for Interval State-Space Model: Application to a Two-Degrees-of-Freedom Piezoelectric Tube Actuator

2018 ◽  
Vol 141 (2) ◽  
Author(s):  
Mounir Hammouche ◽  
Philippe Lutz ◽  
Micky Rakotondrabe
Keyword(s):  
State Space ◽  
Output Feedback ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
State Space Model ◽  
Output Feedback Control ◽  
Optimal Solution ◽  
Loop System ◽  
Closed Loop System ◽  
Optimal Output

The problem of robust and optimal output feedback design for interval state-space systems is addressed in this paper. Indeed, an algorithm based on set inversion via interval analysis (SIVIA) combined with interval eigenvalues computation and eigenvalues clustering techniques is proposed to seek for a set of robust gains. This recursive SIVIA-based algorithm allows to approximate with subpaving the set solutions [K] that satisfy the inclusion of the eigenvalues of the closed-loop system in a desired region in the complex plane. Moreover, the LQ tracker design is employed to find from the set solutions [K] the optimal solution that minimizes the inputs/outputs energy and ensures the best behaviors of the closed-loop system. Finally, the effectiveness of the algorithm is illustrated by a real experimentation on a piezoelectric tube actuator.

scholarly journals Output Feedback Adaptive Dynamic Surface Sliding-Mode Control for Quadrotor UAVs with Tracking Error Constraints

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-23 ◽  
Author(s):  
Guoqiang Zhu ◽  
Sen Wang ◽  
Lingfang Sun ◽  
Weichun Ge ◽  
Xiuyu Zhang
Keyword(s):  
Sliding Mode Control ◽  
Output Feedback ◽  
Controller Design ◽  
Sliding Mode ◽  
Tracking Error ◽  
Control Process ◽  
Nonlinear Observer ◽  
Dynamic Surface ◽  
Mode Control ◽  
Control Scheme

In this paper, a fuzzy adaptive output feedback dynamic surface sliding-mode control scheme is presented for a class of quadrotor unmanned aerial vehicles (UAVs). The framework of the controller design process is divided into two stages: the attitude control process and the position control process. The main features of this work are (1) a nonlinear observer is employed to predict the motion velocities of the quadrotor UAV; therefore, only the position signals are needed for the position tracking controller design; (2) by using the minimum learning technology, there is only one parameter which needs to be updated online at each design step and the computational burden can be greatly reduced; (3) a performance function is introduced to transform the tracking error into a new variable which can make the tracking error of the system satisfy the prescribed performance indicators; (4) the sliding-mode surface is introduced in the process of the controller design, and the robustness of the system is improved. Stability analysis proved that all signals of the closed-loop system are uniformly ultimately bounded. The results of the hardware-in-the-loop simulation validate the effectiveness of the proposed control scheme.

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

2019 ◽  
Vol 41 (10) ◽  
pp. 2897-2908 ◽  
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.

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

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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