Adaptive Feedback Control of Stochastic Nonholonomic Systems with Uncertainties

2015 ◽  
Vol 727-728 ◽  
pp. 692-696
Author(s):  
Gui Ling Ju ◽  
Wei Hai Sun
Keyword(s):  
Closed Loop ◽  
Nonholonomic System ◽  
Nonholonomic Systems ◽  
The State ◽  
Asymptotically Stable ◽  
Closed Loop System ◽  
Output Measurement ◽  
Adaptive Feedback ◽  
Adaptive Feedback Control ◽  
Switching Control Strategy

This paper deals with the adaptive control design of stochastic nonholonomic system with uncertainties. The state-input scaling technique, stochastic Lyapunov-like theorem and back-stepping approach are used to design the feedback controller. The controllers guarantee all states of the closed-loop system are largely asymptotically stable in probability, In order to make the state scaling effective, a new switching control strategy based on the output measurement of the first subsystem is employed.

Adaptive Feedback Control of Nonholonomic Systems with Uncertainties

2014 ◽  
Vol 971-973 ◽  
pp. 337-340
Author(s):  
Gui Ling Ju ◽  
Wei Hai Sun ◽  
Jian Du ◽  
Yun Chang Hang
Keyword(s):  
Feedback Control ◽  
Nonholonomic Systems ◽  
The State ◽  
Output Measurement ◽  
Adaptive Feedback ◽  
Adaptive Feedback Control ◽  
Strongly Nonlinear ◽  
Output Feedback Controller ◽  
Nonlinear Uncertainties ◽  
Switching Control Strategy

This paper deals with the adaptive feedback control for the nonholonomic systems with strongly nonlinear uncertainties. The state-input scaling technique and back-stepping approach are used to design the output feedback controller. In order to make the state scaling effective, a new switching control strategy based on the output measurement of the first subsystem is employed.

scholarly journals Global Finite-Time Output Feedback Stabilization for a Class of Uncertain Nonholonomic Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Baojian Du ◽  
Fangzheng Gao ◽  
Fushun Yuan
Keyword(s):  
Output Feedback ◽  
Finite Time ◽  
Closed Loop ◽  
Output Feedback Control ◽  
Design Procedure ◽  
Nonholonomic Systems ◽  
Feedback Stabilization ◽  
Closed Loop System ◽  
Output Feedback Stabilization ◽  
Switching Control Strategy

This paper investigates the problem of global finite-time stabilization by output feedback for a class of nonholonomic systems in chained form with uncertainties. By using backstepping recursive technique and the homogeneous domination approach, a constructive design procedure for output feedback control is given. Together with a novel switching control strategy, the designed controller renders that the states of closed-loop system are regulated to zero in a finite time. A simulation example is provided to illustrate the effectiveness of the proposed approach.

Controller Design for See-Saw Systems

2014 ◽  
Vol 898 ◽  
pp. 680-683
Author(s):  
Hai Yan Wang
Keyword(s):  
Control Theory ◽  
State Feedback ◽  
Closed Loop ◽  
Controller Design ◽  
The State ◽  
Feedback Controller ◽  
System Model ◽  
Asymptotically Stable ◽  
Closed Loop System ◽  
State Feedback Controller

The control theory has widely application in many fields such as industrial and agricultural. A class of see-saw system model will be studied in this paper. Using the theory of pole assignment, we will design the state feedback controller, such that the closed-loop system is asymptotically stable. At the same time, using the tool of MATLAB, the model of closed see-saw system will be simulated and analyzed. It reveals the state regularity of see-saw system.

Trajectory tracking control of electric sail with input uncertainty and saturation constraint

2016 ◽  
Vol 39 (7) ◽  
pp. 1007-1016 ◽  
Author(s):  
Yu Wang ◽  
Bingxiu Bian
Keyword(s):  
Solar Wind ◽  
Trajectory Tracking ◽  
Closed Loop ◽  
Sliding Mode ◽  
Input Saturation ◽  
Asymptotically Stable ◽  
Closed Loop System ◽  
Saturation Constraints ◽  
Non Linear System ◽  
Input Saturation Constraints

The electric sail (ES) is a novel propellantless propulsion concept, which extracts the solar wind momentum by repelling the positively charged ions. Due to the difficulty of attitude adjustment by the large flexible structure and the uncertainty of ion density, velocity and electron temperature by solar wind, there exist thrust input uncertainty and saturation with time-varying bounds for ES. The trajectory tracking problem for ES in three-dimensional (3-D) space is studied, and the composite sliding mode control scheme with corresponding guidance strategy is proposed for the single-input–multiple-output (SIMO) non-linear system. The hierarchical sliding surfaces are constructed with an auxiliary design system to analyse the effect of input saturation constraints and decouple the SIMO non-linear system to reduce the control complexity. Also, the disturbance estimation based on a super-twisting algorithm is employed to decrease the switch chattering and improve the system robustness. It is proved that all the sliding mode surfaces are asymptotically stable, and all the signals of the closed-loop system are bounded with input saturation constraints. Furthermore, all the signals are converging to zero and the closed-loop system is asymptotically stable without saturation. Finally, the simulation demonstrates the proposed composite sliding mode control is fit for ES 3-D trajectory tracking.

scholarly journals Adaptive Stabilization Control for a Class of Complex Nonlinear Systems Based on T-S Fuzzy Bilinear Model

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Jinsheng Xing ◽  
Naizheng Shi
Keyword(s):  
Adaptive Control ◽  
Nonlinear Systems ◽  
Complex Systems ◽  
Closed Loop ◽  
Loop System ◽  
Asymptotically Stable ◽  
Bilinear Model ◽  
Closed Loop System ◽  
Fuzzy Modelling ◽  
Control Scheme

This paper proposes a stable adaptive fuzzy control scheme for a class of nonlinear systems with multiple inputs. The multiple inputs T-S fuzzy bilinear model is established to represent the unknown complex systems. A parallel distributed compensation (PDC) method is utilized to design the fuzzy controller without considering the error due to fuzzy modelling and the sufficient conditions of the closed-loop system stability with respect to decay rateαare derived by linear matrix inequalities (LMIs). Then the errors caused by fuzzy modelling are considered and the method of adaptive control is used to reduce the effect of the modelling errors, and dynamic performance of the closed-loop system is improved. By Lyapunov stability criterion, the resulting closed-loop system is proved to be asymptotically stable. The main contribution is to deal with the differences between the T-S fuzzy bilinear model and the real system; a global asymptotically stable adaptive control scheme is presented for real complex systems. Finally, illustrative examples are provided to demonstrate the effectiveness of the results proposed in this paper.

Observer-Based Control of a Class of Switched Fuzzy Systems

2014 ◽  
Vol 945-949 ◽  
pp. 2539-2542
Author(s):  
Hong Yang ◽  
Huan Huan Lü ◽  
Le Zhang
Keyword(s):  
Fuzzy System ◽  
Fuzzy Systems ◽  
Function Method ◽  
State Feedback ◽  
Closed Loop ◽  
External Disturbance ◽  
Asymptotically Stable ◽  
Closed Loop System ◽  
Lyapunov Function Method ◽  
Switching State

For the non-measurable states, a control of switched fuzzy systems is presented based on observer. Using switching technique and multiple Lyapunov function method, the fuzzy observer is built to ensure that for all allowable external disturbance the relevant closed-loop system is asymptotically stable. Moreover, switching strategy achieving system global asymptotic stability of the switched fuzzy system is given. In this model, a switching state feedback controller is presented. A simulation shows the feasibility and the effectiveness of the method.

Feedback Control of Linear Distributed Systems

1967 ◽  
Vol 89 (2) ◽  
pp. 379-383 ◽  
Author(s):  
Donald M. Wiberg
Keyword(s):  
Boundary Condition ◽  
Distributed Systems ◽  
Feedback Control ◽  
Closed Loop ◽  
The State ◽  
Loop System ◽  
Closed Loop System ◽  
Loop Equation ◽  
Control Feedback ◽  
And Control

The optimum feedback control of controllable linear distributed stationary systems is discussed. A linear closed-loop system is assured by restricting the criterion to be the integral of quadratics in the state and control. Feedback is obtained by expansion of the linear closed-loop equation in terms of uncoupled modes. By incorporating symbolic functions into the formulation, one can treat boundary condition control and point observable systems that are null-delta controllable.

Global Stabilization for a class of nonlinear fractional-order systems

2019 ◽  
Vol 10 (01) ◽  
pp. 1941009 ◽  
Author(s):  
Taide Liu ◽  
Feng Wang ◽  
Wanchun Lu ◽  
Xuhuan Wang
Keyword(s):  
Lyapunov Function ◽  
Fractional Order ◽  
Closed Loop ◽  
The State ◽  
Loop System ◽  
Global Stabilization ◽  
Fractional Order Systems ◽  
Closed Loop System ◽  
Integer Order ◽  
Backstepping Algorithm

The problem of Mittag–Leffler stabilization (MLS) is studied for a class of nonlinear non-integer order systems. The stabilizer is constructed by using the Lyapunov function and backstepping algorithm. The continuous controller is designed to ensure that the state of the nonlinear fractional-order closed-loop system converges to the equilibrium. Two simulation examples are given to illustrate the effectiveness of the method.

Semiglobal Output Feedback Stabilization of a Generalized Class of MIMO Nonlinear Systems

2011 ◽  
Vol 133 (6) ◽  
Author(s):  
Junyong Zhai ◽  
Chunjian Qian ◽  
Hui Ye
Keyword(s):  
Nonlinear Systems ◽  
Output Feedback ◽  
Closed Loop ◽  
Feedback Stabilization ◽  
Asymptotically Stable ◽  
Closed Loop System ◽  
Feedback Controllers ◽  
Output Feedback Stabilization ◽  
Mismatched Uncertainties ◽  
Semiglobal Stabilization

This paper considers the problem of semiglobal stabilization by output feedback for a class of generalized multi-input and multi-output uncertain nonlinear systems. Due to the presence of mismatched uncertainties and the lack of triangularity condition, the systems under consideration are not uniformly completely observable. Combining the output feedback domination approach and block-backstepping scheme together, a series of linear output feedback controllers are constructed recursively for each subsystems and the closed-loop system is rendered semiglobally asymptotically stable.

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