Lecture notes in control and information sciences

This paper considers actuator redundancy management for a class of overactuated nonlinear systems. Two tools for distributing the control effort among a redundant set of actuators are optimal control design and control allocation. In this paper, we investigate the relationship between these two design tools when the performance indexes are quadratic in the control input. We show that for a particular class of nonlinear systems, they give exactly the same design freedom in distributing the control effort among the actuators. Linear quadratic optimal control is contained as a special case. A benefit of using a separate control allocator is that actuator constraints can be considered, which is illustrated with a flight control example.

Resolving actuator redundancy: optimal control vs. control allocation

Thank you for reading stable adaptive systems. As you may know, people have look hundreds times for their chosen readings like this stable adaptive systems, but end up in infectious downloads. Rather than enjoying a good book with a cup of tea in the afternoon, instead they cope with some harmful virus inside their desktop computer. stable adaptive systems is available in our book collection an online access to it is set as public so you can get it instantly. Our digital library saves in multiple locations, allowing you to get the most less latency time to download any of our books like this one. Kindly say, the stable adaptive systems is universally compatible with any devices to read.

Stable Adaptive Systems

Adaptive control methods are developed for stability and tracking control of flight systems in the presence of parametric uncertainties. This paper offers a design technique of adaptive sliding mode control (ASMC) for finite-time stabilization of unmanned aerial vehicle (UAV) systems with parametric uncertainties. Applying the Lyapunov stability concept and finite-time convergence idea, the recommended control method guarantees that the states of the quad-rotor UAV are converged to the origin with a finite-time convergence rate. Furthermore, an adaptive-tuning scheme is advised to guesstimate the unknown parameters of the quad-rotor UAV at any moment. Finally, simulation results are presented to exhibit the helpfulness of the offered technique compared to the previous methods.

Adaptive sliding mode control for finite-time stability of quad-rotor UAVs with parametric uncertainties.

An underactuated mechanical system (UMS) is a system which has fewer independent control actuators than degrees of freedom to be controlled. Control of UMS is considered as one of the most active fields of research because of its diverse engineering applications. This survey reviews UMS from its history to the state-of-the-art research on modelling, classification, control, and to some extent, provides some unique insights for bottleneck issues and future research directions.

/pdf/a-survey-of-underactuated-mechanical-systems-4tw16vhjoz.pdf

A Survey of Underactuated Mechanical Systems

A hybrid fixed-time observer for state estimation of linear systems

Comparative analysis of continuous sliding-modes control strategies for quad-rotor robust tracking

In this paper the problem of simultaneous state and parameter estimation is studied for a class of uncertain nonlinear systems. A nonlinear adaptive sliding-mode observer is proposed based on a nonlinear parameter estimation algorithm. It is shown that such a nonlinear algorithm provides a rate of convergence faster than exponential, i.e. faster than the classic linear algorithm. Then, the proposed parameter estimation algorithm is included in the structure of a sliding-mode state observer providing an ultimate bound for the full estimation error attenuating the effects of the external disturbances. Moreover, the synthesis of the observer is given in terms of linear matrix inequalities. The corresponding proofs of convergence are developed based on Lyapunov function approach and input-to-state stability theory. Some simulation results illustrate the efficiency of the proposed adaptive sliding-mode observer.

/pdf/an-adaptive-sliding-mode-observer-for-a-class-of-uncertain-165fkk33yj.pdf

An adaptive sliding‐mode observer for a class of uncertain nonlinear systems

This paper deals with the problem of robust tracking output-control design for a Quad-Rotor. The proposed approach is based on continuous sliding-modes control (SMC) techniques and it is able to robustly track a desired trajectory for the Quad-Rotor despite some class of disturbances acting on the system. Such a robust tracking control is composed of a finite-time sliding-mode observer (SMO) and cascaded continuous SMCs providing uniform finite-time stability and uniform exponential stability, for the vertical and yaw tracking error, and for the horizontal tracking error, respectively; despite the disturbances on the system, and only using the measurable positions and angles. Simulation results illustrate the feasibility of the proposed tracking strategy.

Robust tracking output-control for a quad-rotor: A continuous sliding-mode approach

This article presents the problem of finite time reconstruction of the continuous state and operating mode for a class of nonlinear switched systems. The proposed method is based on the nonhomogeneous high-order sliding mode approach. It is able to reconstruct both the state and operating mode of a switched system based only on its measurable outputs and through the use of the features of the equivalent output injection. The observability is derived in terms of certain geometric restrictions on the vector fields of the switched system that require the availability of all its modes. The method does not require the system to be transformed into any normal form. Simulation results support the proposed method.

/pdf/state-observation-for-nonlinear-switched-systems-using-3pyn2n79ir.pdf

Hector Rios

Papers

A hybrid fixed-time observer for state estimation of linear systems

Comparative analysis of continuous sliding-modes control strategies for quad-rotor robust tracking

An adaptive sliding‐mode observer for a class of uncertain nonlinear systems

Robust tracking output-control for a quad-rotor: A continuous sliding-mode approach

State observation for nonlinear switched systems using nonhomogeneous high-order sliding mode observers