Journal ArticleDOI
Saturated Adaptive Robust Control for Active Suspension Systems
TLDR
In response to uncertainties in systems and the possible actuator saturation, a saturated adaptive robust control (ARC) strategy is proposed, where an antiwindup block is added to adjust the control strategy in a manner conducive to stability and performance preservation in the presence of saturation.Abstract:
This paper investigates the problem of vibration control in vehicle active suspension systems, whose aim is to stabilize the attitude of the vehicle and improve ride comfort. In response to uncertainties in systems and the possible actuator saturation, a saturated adaptive robust control (ARC) strategy is proposed. Specifically, an antiwindup block is added to adjust the control strategy in a manner conducive to stability and performance preservation in the presence of saturation. Furthermore, the proposed saturated ARC approach is applied to the half-car active suspension systems, where nonlinear springs and piecewise linear dampers are adopted. Finally, the typical bump road inputs are considered as the road disturbances in order to illustrate the effectiveness of the proposed control law.read more
Citations
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Journal ArticleDOI
Extended-State-Observer-Based Output Feedback Nonlinear Robust Control of Hydraulic Systems With Backstepping
TL;DR: The proposed controller theoretically guarantees a prescribed tracking transient performance and final tracking accuracy, while achieving asymptotic tracking performance in the absence of time-varying uncertainties, which is very important for high-accuracy tracking control of hydraulic servo systems.
Journal ArticleDOI
Adaptive Robust Control of DC Motors With Extended State Observer
TL;DR: In this paper, a practical method named adaptive robust control with extended state observer (ESO) is synthesized for high-accuracy motion control of a dc motor via a feedforward cancellation technique and theoretically guarantees a prescribed tracking performance in the presence of various uncertainties.
Journal ArticleDOI
Vehicle Lateral Dynamics Control Through AFS/DYC and Robust Gain-Scheduling Approach
Hui Zhang,Junmin Wang +1 more
TL;DR: This paper investigates the combined active front-wheel steering/direct yaw-moment control for the improvement of vehicle lateral stability and vehicle handling performance and proposes the controller-gain tuning method.
Journal ArticleDOI
Adaptive Control of Hydraulic Actuators With LuGre Model-Based Friction Compensation
TL;DR: An adaptive backstepping controller is proposed for precise tracking control of hydraulic systems to handle parametric uncertainties along with nonlinear friction compensation, and the robustness against unconsidered dynamics, as well as external disturbances is also ensured via Lyapunov analysis.
Journal ArticleDOI
Neural Learning Control of Marine Surface Vessels With Guaranteed Transient Tracking Performance
Shi-Lu Dai,Min Wang,Cong Wang +2 more
TL;DR: The stored knowledge from the original vessel is reused to develop neural learning control such that the improved control performance with faster tracking convergence rate and less computational burden could be achieved, while prescribed transient and steady-state tracking control performances are guaranteed.
References
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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
Adaptive robust motion control of single-rod hydraulic actuators: theory and experiments
TL;DR: In this paper, a discontinuous projection-based adaptive robust controller (ARC) is proposed for the swing motion control of a single-rod hydraulic actuator with constant unknown inertia load, which takes into account not only the effect of parameter variations coming from the inertia load and various hydraulic parameters, but also the effects of hard to model nonlinearities such as uncompensated friction forces and external disturbances.
Journal ArticleDOI
Anti-windup design: an overview of some recent advances and open problems
TL;DR: An overview of anti-windup techniques for linear systems with saturated inputs can be found in this article, where the authors provide constructive LMI conditions for the synthesis of antiwindup compensators in both global and local contexts.
Journal ArticleDOI
Antiwindup for stable linear systems with input saturation: an LMI-based synthesis
TL;DR: It is shown that, if (and only if) the plant is asymptotically stable, plant-order linear antiwind up compensation is always feasible for large enough L/sub 2/ gain and that static antiwindup compensation is feasible provided a quasi-common Lyapunov function, between the open-loop and unconstrained closed-loop, exists.
Journal ArticleDOI
Fuzzy-Adaptive Decentralized Output-Feedback Control for Large-Scale Nonlinear Systems With Dynamical Uncertainties
TL;DR: It is proved that the proposed adaptive fuzzy-control approach can guarantee that all the signals in the closed-loop system are uniformly and ultimately bounded, and the tracking errors converge to a small neighborhood of the origin.