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
Anti-disturbance reference mode resilient dynamic output feedback control for turbofan systems
TL;DR: The Lyapunov stability theory and linear matrix inequalities (LMIs) technique are applied to guarantee that the augmented closed-loop tracking error systems are asymptotically stable with the L 2 − L ∞ performance.
Journal ArticleDOI
Unilateral boundary control for a suspension cable system of a helicopter with horizontal motion
Yong Ren,Mou Chen,Jianye Liu +2 more
TL;DR: In this study, the anti-swing control is investigated for a suspension cable system of a helicopter subject to external disturbance and a unilateral boundary control law is proposed to eliminate the vibration by using Lyapunov's direct method.
Journal ArticleDOI
Optimal backstepping control for a ship using firefly optimization algorithm and disturbance observer
Muhammad Ejaz,Mou Chen +1 more
TL;DR: An optimal control scheme is presented for a ship in the presence of external disturbances using the backstepping technique and a disturbance observer method and its closed loop system stability has been guaranteed.
Journal ArticleDOI
Fast and low-frequency adaptation in neural network control
Yongping Pan,Qin Gao,Haoyong Yu +2 more
TL;DR: In this paper, a simple adaptive NN with proportional derivative (PD) control strategy was proposed to achieve fast and low-frequency adaptation for a class of uncertain non-linear systems, where variable-gain PD control without the knowledge of plant bounds is proposed to semi-globally stabilise the plant, so that NN approximation is applicable.
Journal ArticleDOI
Adaptive Backstepping Sliding Mode Control of Uncertain Semi-Strict Nonlinear Systems and Application to Permanent Magnet Synchronous Motor
TL;DR: A disturbance observer (DOB) based-backstepping sliding mode control scheme is discussed for a class of semi-strict nonlinear system with unknown parameters and mismatched uncertainty, and exponential sliding mode surface is proposed to improve the convergence rate of the sliding mode state.
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.