Journal ArticleDOI
Robust Adaptive Control of Uncertain Nonlinear Systems in the Presence of Input Saturation and External Disturbance
TLDR
Two new robust adaptive control algorithms are developed by introducing a well defined smooth function and using a Nussbaum function to compensate for the nonlinear term arising from the input saturation.Abstract:
In this technical note, we consider adaptive control of single input uncertain nonlinear systems in the presence of input saturation and unknown external disturbance. By using backstepping approaches, two new robust adaptive control algorithms are developed by introducing a well defined smooth function and using a Nussbaum function. The Nussbaum function is introduced to compensate for the nonlinear term arising from the input saturation. Unlike some existing control schemes for systems with input saturation, the developed controllers do not require assumptions on the uncertain parameters within a known compact set and a priori knowledge on the bound of the external disturbance. Besides showing global stability, transient performance is also established and can be adjusted by tuning certain design parameters.read more
Citations
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Journal ArticleDOI
Adaptive Neural Impedance Control of a Robotic Manipulator With Input Saturation
Wei He,Yiting Dong,Changyin Sun +2 more
TL;DR: In this article, an adaptive impedance controller for a robotic manipulator with input saturation was developed by employing neural networks. But the adaptive impedance control was not considered in the tracking control design, and the input saturation is handled by designing an auxiliary system.
Journal ArticleDOI
Composite Adaptive Fuzzy Output Feedback Control Design for Uncertain Nonlinear Strict-Feedback Systems With Input Saturation
TL;DR: A new fuzzy controller with the composite parameters adaptive laws are developed and it is proved that all the signals of the closed-loop system are bounded and the system output can follow the given bounded reference signal.
Journal ArticleDOI
Robust Adaptive Fuzzy Tracking Control for Pure-Feedback Stochastic Nonlinear Systems With Input Constraints
TL;DR: The proposed adaptive fuzzy tracking controller guarantees that all signals in the closed-loop system are bounded in probability and the system output eventually converges to a small neighborhood of the desired reference signal in the sense of mean quartic value.
Journal ArticleDOI
Adaptive Fuzzy Tracking Control Design for SISO Uncertain Nonstrict Feedback Nonlinear Systems
TL;DR: This paper investigates an adaptive fuzzy tracking control design problem for single-input and single-output uncertain nonstrict feedback nonlinear systems and proposes both adaptive fuzzy state feedback and observer-based output feedback control designs.
Journal ArticleDOI
Adaptive Backstepping Stabilization of Nonlinear Uncertain Systems With Quantized Input Signal
TL;DR: A stabilization problem for nonlinear uncertain systems via adaptive backstepping approach is considered, and a designed controller together with the quantizer ensures the stability of the closed-loop system in the sense of signal boundedness.
References
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Book
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TL;DR: In this paper, the focus is on adaptive nonlinear control results introduced with the new recursive design methodology -adaptive backstepping, and basic tools for nonadaptive BackStepping design with state and output feedbacks.
Journal ArticleDOI
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TL;DR: A new adaptive algorithm is introduced which ensures that the plant can be locally stabilized and an upper bound on the plant control parameter is required to be known.
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Adaptive model predictive control for constrained nonlinear systems
TL;DR: A method is proposed for the adaptive model predictive control of constrained nonlinear system that explicitly account for the transient effect of parametric estimation error by combining a parameter adjustment mechanism with robust MPC algorithms.