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
Adaptive fuzzy output-feedback dynamic surface control of MIMO switched nonlinear systems with unknown gain signs
Lijun Long,Jun Zhao +1 more
TL;DR: It is proved that all the signals in the closed-loop system are semiglobal uniformly ultimately boundedness under a class of switching signals with average dwell time, and the tracking errors converge to a small neighborhood of the origin.
Journal ArticleDOI
Observer-based sliding mode control for bilateral teleoperation with time-varying delays
TL;DR: The tracking control scheme is based on an extended state observer, a time-delay part observer and a continuous terminal sliding mode control (CTSMC) strategy to ensure finite-time convergence for the bilateral teleoperation system without knowing the second derivatives of tracking errors.
Journal ArticleDOI
Adaptive neural control of the dissolved oxygen concentration in WWTPs based on disturbance observer
Mei-Jin Lin,Fei Luo +1 more
TL;DR: Comparing with the existing controllers, it is shown that satisfactory performances can be achieved using the proposed adaptive control technique, and rigorously proved by Lyapunov method can guarantee semiglobal uniform boundedness of the closed-loop system signals and the disturbance estimate error.
Journal ArticleDOI
L1 adaptive pitch angle controller of wind energy conversion systems
TL;DR: A novel L1 adaptive controller is designed for blade pitch control of wind energy conversion systems (WECS) to achieve stable output power and generator speed, in the presence of turbulent wind conditions.
Journal ArticleDOI
Adaptive Control via Neural Output Feedback for a Class of Nonlinear Discrete-Time Systems in a Nested Interconnected Form
Dong-Juan Li,Dapeng Li +1 more
TL;DR: In this paper, an adaptive output feedback control is framed for uncertain nonlinear discrete-time systems, a class of multi-input multioutput nonaffine nonlinear systems, and they are in the nested lower triangular form.
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.