Journal ArticleDOI
Direct Adaptive Neural Control for a Class of Uncertain Nonaffine Nonlinear Systems Based on Disturbance Observer
Mou Chen,Shuzhi Sam Ge +1 more
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TLDR
Both state feedback and output feedback direct adaptive controls can guarantee semiglobal uniform boundedness of the closed-loop system signals as rigorously proved by Lyapunov analysis.Abstract:
In this paper, the direct adaptive neural control is proposed for a class of uncertain nonaffine nonlinear systems with unknown nonsymmetric input saturation. Based on the implicit function theorem and mean value theorem, both state feedback and output feedback direct adaptive controls are developed using neural networks (NNs) and a disturbance observer. A compounded disturbance is defined to take into account of the effect of the unknown external disturbance, the unknown nonsymmetric input saturation, and the approximation error of NN. Then, a disturbance observer is developed to estimate the unknown compounded disturbance, and it is established that the estimate error converges to a compact set if appropriate observer design parameters are chosen. Both state feedback and output feedback direct adaptive controls can guarantee semiglobal uniform boundedness of the closed-loop system signals as rigorously proved by Lyapunov analysis. Numerical simulation results are presented to illustrate the effectiveness of the proposed direct adaptive neural control techniques.read more
Citations
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Journal ArticleDOI
Fuzzy Adaptive Fault-Tolerant Output Feedback Attitude-Tracking Control of Rigid Spacecraft
TL;DR: A novel adaptive fuzzy attitude-tracking fault-tolerant control scheme is developed that guarantees that all signals of the rigid spacecraft are bounded and the tracking error between the system output and the reference signal converges to a small neighborhood of zero.
Journal ArticleDOI
Global output regulation for strict-feedback nonlinear systems with mismatched nonvanishing disturbances
TL;DR: In this article, a nonlinear disturbance observer-based control approach is introduced into the design of virtual control laws in each step, and it is shown that the system output asymptotically converges to zero in the presence of mismatched nonvanishing disturbances without the requirement of solving any partial differential equations involved with the traditional output regulation theory.
Journal ArticleDOI
Anti-disturbance control of hypersonic flight vehicles with input saturation using disturbance observer
TL;DR: Stability is rigorously proved by using the Lyapunov method and the finite time convergence of all closed-loop system signals in the presence of the integrated affection of the system uncertainty, the inputsaturation, and the unknown external disturbance is guaranteed.
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Disturbance Observer-based Robust Control and Its Applications: 35th Anniversary Overview
TL;DR: The origins of DOB are introduced and it is explained DOB's analysis and synthesis techniques for linear and nonlinear systems by using a unified framework.
Journal ArticleDOI
Vibration Control of a Flexible String With Both Boundary Input and Output Constraints
Wei He,Shuzhi Sam Ge +1 more
TL;DR: Because the system parameters are unknown, adaptive boundary feedback control is proposed and uniform ultimate boundedness is guaranteed and the exponential stability is achieved through rigorous analysis without any simplification of the dynamics.
References
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Journal ArticleDOI
A nonlinear disturbance observer for robotic manipulators
TL;DR: The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity and physical parameters of robotic manipulators.
Journal ArticleDOI
Disturbance observer based control for nonlinear systems
TL;DR: This work presents a general framework for nonlinear systems subject to disturbances using disturbance observer based control (DOBC) techniques and develops a nonlinear disturbance observer for disturbances generated by an exogenous system.
Journal ArticleDOI
Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints
TL;DR: The auxiliary design system is introduced to analyze the effect of input constraints, and its states are used to adaptive tracking control design, and the closed-loop semi-global uniformly ultimate bounded stability is achieved via Lyapunov synthesis.
Journal ArticleDOI
Adaptive neural control of uncertain MIMO nonlinear systems
Shuzhi Sam Ge,Cong Wang +1 more
TL;DR: Adapt neural control schemes are proposed for two classes of uncertain multi-input/multi-output (MIMO) nonlinear systems in block-triangular forms that avoid the controller singularity problem completely without using projection algorithms.
Journal ArticleDOI
Brief paper: Adaptive dynamic surface control of nonlinear systems with unknown dead zone in pure feedback form
Tao Zhang,Shuzhi Sam Ge +1 more
TL;DR: It is proved that the proposed design method is able to guarantee semi-global uniform ultimate boundedness of all signals in the closed-loop system, with arbitrary small tracking error by appropriately choosing design constants.