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 output feedback boundary control for a class of axially moving system
TL;DR: A boundary adaptive output feedback control is presented by merging Lyapunov theory, observer backstepping technique, high-gain observers and robust adaptive control theory to globally stabilise the vibration and compensate for the uncertainties of the system.
Journal ArticleDOI
Adaptive event-triggered tracking using nonlinear disturbance observer of arbitrarily switched uncertain nonlinear systems in pure-feedback form
Dong Min Jeong,Sung Jin Yoo +1 more
TL;DR: In this article, an adaptive nonlinear disturbance observer (NDO) strategy is proposed for event-triggered tracking of switched uncertain pure-feedback nonlinear systems with mismatched external disturbances and arbitrary switching.
Journal ArticleDOI
Finite‐Time Fault‐Tolerant Control for a Class of Non‐Affine Nonlinear System Using Sliding Mode Disturbance Observer
Qiang Zhang,Cui Wang,Dezhi Xu +2 more
Journal ArticleDOI
Backstepping control for a 3DOF model helicopter with input and output constraints
Rong Mei,Qingliang Cui +1 more
TL;DR: Simulation results show that the designed control scheme is effective at dealing with the motion control of a 3DOF model helicopter in the presence of unknown external disturbance and modelling uncertainties, and input and output saturation.
Proceedings ArticleDOI
Disturbance observer based backstepping MIMO control design for a marine vessel in the presence of input saturation and external disturbance
TL;DR: A MIMO autopilot control for a marine vessel has been designed such that it can perform well in the presence of input saturation and external disturbances and a method based upon fuzzy logic is presented to tackle input saturation.
References
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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.