Pub Date : 2024-07-25DOI: 10.1177/09596518241256144
Min Wan, Jiaru Song, Guorong Wang
This paper explores the control strategy for toolface tracking in the stabilized platform of a rotary steerable system, considering both input saturation and output constraint. To mitigate the impact of unknown friction torque and modeling error on the stabilized platform, we propose an adaptive fuzzy backstepping control approach. A fuzzy state observer is specifically devised to handle the uncertain state arising from unknown friction torque and modeling errors. Introducing an auxiliary system effectively compensates for input saturation, and the resolution of the output error constraint is achieved through the construction of a barrier Lyapunov function. Furthermore, employing the Lyapunov method establishes that all signals in the entire closed-loop control system are semi-globally uniformly ultimately bounded. Simulation results confirm the efficacy of the proposed control methodology.
{"title":"Observer-based adaptive fuzzy control of stabilized platform in rotary steerable system with input saturation and output constraint","authors":"Min Wan, Jiaru Song, Guorong Wang","doi":"10.1177/09596518241256144","DOIUrl":"https://doi.org/10.1177/09596518241256144","url":null,"abstract":"This paper explores the control strategy for toolface tracking in the stabilized platform of a rotary steerable system, considering both input saturation and output constraint. To mitigate the impact of unknown friction torque and modeling error on the stabilized platform, we propose an adaptive fuzzy backstepping control approach. A fuzzy state observer is specifically devised to handle the uncertain state arising from unknown friction torque and modeling errors. Introducing an auxiliary system effectively compensates for input saturation, and the resolution of the output error constraint is achieved through the construction of a barrier Lyapunov function. Furthermore, employing the Lyapunov method establishes that all signals in the entire closed-loop control system are semi-globally uniformly ultimately bounded. Simulation results confirm the efficacy of the proposed control methodology.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"15 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141781598","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-25DOI: 10.1177/09596518241262503
Wenyi Tan, Yan Zhang, Qiang Zhang, Yancai Hu, Yang Liu
Aiming at the trajectory tracking control problem of underwater salvage vehicle affected by dynamic uncertainty and external disturbance, a trajectory tracking control scheme based on full-state constraint is proposed. Firstly, radial basis function neural network (RBFNN) and adaptive virtual parameter learning method are combined to compensate dynamic uncertainty and external interference. Then barrier Lyapunov function (BLF) is used to prevent the violation of the full-state constraint. The Lyapunov stability theory is used to prove that the proposed control scheme can achieve semi-global uniform boundedness of the closed-loop system. Finally, simulation results further demonstrate its excellent performance. The proposed control scheme has good reference value for the application of the underwater salvage vehicle in practical engineering.
{"title":"Adaptive trajectory tracking control of underwater salvage vehicle based on full-state constraint","authors":"Wenyi Tan, Yan Zhang, Qiang Zhang, Yancai Hu, Yang Liu","doi":"10.1177/09596518241262503","DOIUrl":"https://doi.org/10.1177/09596518241262503","url":null,"abstract":"Aiming at the trajectory tracking control problem of underwater salvage vehicle affected by dynamic uncertainty and external disturbance, a trajectory tracking control scheme based on full-state constraint is proposed. Firstly, radial basis function neural network (RBFNN) and adaptive virtual parameter learning method are combined to compensate dynamic uncertainty and external interference. Then barrier Lyapunov function (BLF) is used to prevent the violation of the full-state constraint. The Lyapunov stability theory is used to prove that the proposed control scheme can achieve semi-global uniform boundedness of the closed-loop system. Finally, simulation results further demonstrate its excellent performance. The proposed control scheme has good reference value for the application of the underwater salvage vehicle in practical engineering.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"71 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141781596","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-25DOI: 10.1177/09596518241256701
Zelai Xu, Yipeng Lan, Cheng Lei
This paper proposes a fixed-time disturbance observer-based funnel control method for a controllable excitation linear synchronous motor (CELSM) with state constraints and disturbances. This approach simultaneously resolves the issues of prescribed tracking performance and state constraints, taking into account disturbances. We employ a fixed-time disturbance observer (DO) to estimate both matched and mismatched disturbances. Additionally, we design a modified funnel variable to confine the tracking error within a prescribed region and the singularity problem is avoided. An integral barrier Lyapunov function (iBLF) is utilized to directly tackle state constraints. Furthermore, we employ a fixed-time differentiator (FTD) to address the “explosion of complexity” issue in backstepping control. Theoretical analysis demonstrates that the tracking error asymptotically converges to the origin within a prescribed region while satisfying state constraints. Finally, simulation results demonstrate the efficacy of the proposed method.
{"title":"Fixed-time disturbance observer-based funnel control for controllable excitation linear synchronous motor with state constraints","authors":"Zelai Xu, Yipeng Lan, Cheng Lei","doi":"10.1177/09596518241256701","DOIUrl":"https://doi.org/10.1177/09596518241256701","url":null,"abstract":"This paper proposes a fixed-time disturbance observer-based funnel control method for a controllable excitation linear synchronous motor (CELSM) with state constraints and disturbances. This approach simultaneously resolves the issues of prescribed tracking performance and state constraints, taking into account disturbances. We employ a fixed-time disturbance observer (DO) to estimate both matched and mismatched disturbances. Additionally, we design a modified funnel variable to confine the tracking error within a prescribed region and the singularity problem is avoided. An integral barrier Lyapunov function (iBLF) is utilized to directly tackle state constraints. Furthermore, we employ a fixed-time differentiator (FTD) to address the “explosion of complexity” issue in backstepping control. Theoretical analysis demonstrates that the tracking error asymptotically converges to the origin within a prescribed region while satisfying state constraints. Finally, simulation results demonstrate the efficacy of the proposed method.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"5 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141781684","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-06-24DOI: 10.1177/09596518241256016
Xin Zhou, Zhangbao Xu, Xu Yang
This paper introduces a novel control strategy combining a hybrid nonlinear disturbance observer with a finite-time synergistic control approach for hydraulic servo systems, focusing on compensating time-varying disturbances and suppresses chattering. Recognizing the critical challenges posed by these disturbances and the chattering phenomenon in hydraulic servo systems, our work offers significant advancements in enhancing system robustness and control precision. Through meticulous classification and handling of matched and unmatched disturbances, the study unveils a dual-channel finite-time disturbance observer capable of simultaneously addressing both disturbance types with high accuracy, particularly focusing on the often overlooked and challenging to observe friction effects. Key contributions include the pioneering integration of cooperative control theory with sliding mode control, employing fractional-order terms to minimize chattering, thereby improving system stability. The experimental evaluation underlines the proposed controller’s superior performance over traditional control strategies, including PID, TSMC, and SMC, under both low and high-frequency operational conditions. Notably, the proposed FTNTSC controller demonstrates exceptional robustness and effectiveness, with significantly lower performance degradation when transitioning from low to high-frequency conditions compared to its counterparts.
{"title":"Finite time non-singular terminal synergistic control of hydraulic servo system considering time-varying disturbance","authors":"Xin Zhou, Zhangbao Xu, Xu Yang","doi":"10.1177/09596518241256016","DOIUrl":"https://doi.org/10.1177/09596518241256016","url":null,"abstract":"This paper introduces a novel control strategy combining a hybrid nonlinear disturbance observer with a finite-time synergistic control approach for hydraulic servo systems, focusing on compensating time-varying disturbances and suppresses chattering. Recognizing the critical challenges posed by these disturbances and the chattering phenomenon in hydraulic servo systems, our work offers significant advancements in enhancing system robustness and control precision. Through meticulous classification and handling of matched and unmatched disturbances, the study unveils a dual-channel finite-time disturbance observer capable of simultaneously addressing both disturbance types with high accuracy, particularly focusing on the often overlooked and challenging to observe friction effects. Key contributions include the pioneering integration of cooperative control theory with sliding mode control, employing fractional-order terms to minimize chattering, thereby improving system stability. The experimental evaluation underlines the proposed controller’s superior performance over traditional control strategies, including PID, TSMC, and SMC, under both low and high-frequency operational conditions. Notably, the proposed FTNTSC controller demonstrates exceptional robustness and effectiveness, with significantly lower performance degradation when transitioning from low to high-frequency conditions compared to its counterparts.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"9 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141505448","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-05-31DOI: 10.1177/09596518241249876
Tu Zhang, Guobao Zhang, Yongming Huang
This paper is devoted to the iterative interval estimation for nonlinear discrete-time systems. To reconstruct the system state, a sequence of iterative observers is established based on the iterative disturbance estimation and measured output. By means of the Lipschitz condition and [Formula: see text] technique, sufficient conditions are built by the Lyapunov function method to make observation errors convergent. Resorting to the zonotope-based reachability analysis, the reachable set of nonlinear terms and observation errors are analyzed such that the state interval can be supplied. The presented approach is validated by a simulation comparison.
{"title":"An iterative interval estimation approach to nonlinear discrete-time systems","authors":"Tu Zhang, Guobao Zhang, Yongming Huang","doi":"10.1177/09596518241249876","DOIUrl":"https://doi.org/10.1177/09596518241249876","url":null,"abstract":"This paper is devoted to the iterative interval estimation for nonlinear discrete-time systems. To reconstruct the system state, a sequence of iterative observers is established based on the iterative disturbance estimation and measured output. By means of the Lipschitz condition and [Formula: see text] technique, sufficient conditions are built by the Lyapunov function method to make observation errors convergent. Resorting to the zonotope-based reachability analysis, the reachable set of nonlinear terms and observation errors are analyzed such that the state interval can be supplied. The presented approach is validated by a simulation comparison.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"91 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141193413","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-30DOI: 10.1177/09596518241245162
Kuo Chen, Jin Zhang, Jiancheng Yu
Accurate formation maintenance and safe formation transformations are significant challenges for multiple autonomous underwater vehicle (multi-AUV) dense formations. To address these problems, an innovative control method for a multi-AUV dense formation is proposed. First, a model predictive controller (MPC) that considers AUV input constraints and external disturbances is designed such that a multi-AUV dense formation can accurately maintain a desired formation while tracking a reference trajectory. After that, at the kinematics level, an optimal path for a safe and efficient multi-AUV dense formation transformation is generated based on the Hungarian method. Furthermore, considering an underactuated and nonlinear AUV dynamics model at the dynamics level, a potential function based on collision avoidance is established. It is added to the MPC objective function to further guarantee the potential of the formation transformation. Finally, a multi-AUV dense formation maintenance simulation shows that the proposed method can guarantee higher trajectory tracking accuracy than other algorithms. A multi-AUV dense formation transformation simulation shows that the proposed method avoids the occurrence of cross paths and a safe distance between AUVs is always maintained. The above results demonstrate that multi-AUV dense formations can achieve accurate maintenance and safe transformations, and the proposed method is feasible and effective.
{"title":"Maintenance and transformation method for a multi-AUV dense formation","authors":"Kuo Chen, Jin Zhang, Jiancheng Yu","doi":"10.1177/09596518241245162","DOIUrl":"https://doi.org/10.1177/09596518241245162","url":null,"abstract":"Accurate formation maintenance and safe formation transformations are significant challenges for multiple autonomous underwater vehicle (multi-AUV) dense formations. To address these problems, an innovative control method for a multi-AUV dense formation is proposed. First, a model predictive controller (MPC) that considers AUV input constraints and external disturbances is designed such that a multi-AUV dense formation can accurately maintain a desired formation while tracking a reference trajectory. After that, at the kinematics level, an optimal path for a safe and efficient multi-AUV dense formation transformation is generated based on the Hungarian method. Furthermore, considering an underactuated and nonlinear AUV dynamics model at the dynamics level, a potential function based on collision avoidance is established. It is added to the MPC objective function to further guarantee the potential of the formation transformation. Finally, a multi-AUV dense formation maintenance simulation shows that the proposed method can guarantee higher trajectory tracking accuracy than other algorithms. A multi-AUV dense formation transformation simulation shows that the proposed method avoids the occurrence of cross paths and a safe distance between AUVs is always maintained. The above results demonstrate that multi-AUV dense formations can achieve accurate maintenance and safe transformations, and the proposed method is feasible and effective.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"65 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140835803","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-30DOI: 10.1177/09596518241246017
Huan Luo, Tianwei Zhang
The discrete-time and discrete-space model for stochastic nonlocal shunting inhibitory cellular neural networks with reaction diffusions are modelled in the first time. Owing to the consideration of spatial variables, the discrete model derived in this article is more complex than the traditional ordinary difference model. In accordance with the constant-variation-formula for discrete-time and discrete-space model, Banach contracting mapping principle, the method of proof by contradiction and stochastic calculus, we also obtain the existence of a unique bounded almost periodic sequence for the discrete model, which is exponentially stable in the mean-square sense. Noting that it is the first time to consider the dynamics of almost periodicity in distribution of time-space discrete neural network models. The practicability of the present results is demonstrated by means of an illustration.
{"title":"Mean-squared exponential stability of distributed almost periodic sequence for nonlocal space-time discrete shunting inhibitory cellular neural networks with Brownian motions","authors":"Huan Luo, Tianwei Zhang","doi":"10.1177/09596518241246017","DOIUrl":"https://doi.org/10.1177/09596518241246017","url":null,"abstract":"The discrete-time and discrete-space model for stochastic nonlocal shunting inhibitory cellular neural networks with reaction diffusions are modelled in the first time. Owing to the consideration of spatial variables, the discrete model derived in this article is more complex than the traditional ordinary difference model. In accordance with the constant-variation-formula for discrete-time and discrete-space model, Banach contracting mapping principle, the method of proof by contradiction and stochastic calculus, we also obtain the existence of a unique bounded almost periodic sequence for the discrete model, which is exponentially stable in the mean-square sense. Noting that it is the first time to consider the dynamics of almost periodicity in distribution of time-space discrete neural network models. The practicability of the present results is demonstrated by means of an illustration.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"69 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140835910","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-18DOI: 10.1177/09596518241240179
Hang Gao, Chao Ma, Xiaodong Zhang, Jun Zheng
This paper deals with robotic systems trajectory tracking problems by designing a new event-triggered sliding mode control (ET-SMC) algorithm with signal quantization. More precisely, an event-triggered control strategy is introduced to the sliding mode control algorithm with robustness to reduce the controller update frequency, so as to reduce the network communication resources consumption and maintain the control accuracy. In addition, the dynamic quantization method is adopted between the controller and the actuator for more communication efficiency. Unlike periodic time-triggered control strategy, a novel event triggering condition which requires no state-dependent variables is discussed for less triggering threshold computations. Furthermore, the minimum interval of adjacent triggering instant based on the new triggering condition can be obtained to avoid the Zeno phenomenon. Finally, simulation results demonstrate the validity of the presented control algorithm and practical experiments with a PHANToM Omni robotic device are given to verify the advanced performances. As a result, the trajectory tracking error is limited within a small range and the control update frequency is evidently reduced.
{"title":"Event-triggered sliding mode control for trajectory tracking of robotic system with signal quantization","authors":"Hang Gao, Chao Ma, Xiaodong Zhang, Jun Zheng","doi":"10.1177/09596518241240179","DOIUrl":"https://doi.org/10.1177/09596518241240179","url":null,"abstract":"This paper deals with robotic systems trajectory tracking problems by designing a new event-triggered sliding mode control (ET-SMC) algorithm with signal quantization. More precisely, an event-triggered control strategy is introduced to the sliding mode control algorithm with robustness to reduce the controller update frequency, so as to reduce the network communication resources consumption and maintain the control accuracy. In addition, the dynamic quantization method is adopted between the controller and the actuator for more communication efficiency. Unlike periodic time-triggered control strategy, a novel event triggering condition which requires no state-dependent variables is discussed for less triggering threshold computations. Furthermore, the minimum interval of adjacent triggering instant based on the new triggering condition can be obtained to avoid the Zeno phenomenon. Finally, simulation results demonstrate the validity of the presented control algorithm and practical experiments with a PHANToM Omni robotic device are given to verify the advanced performances. As a result, the trajectory tracking error is limited within a small range and the control update frequency is evidently reduced.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"22 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140623173","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-18DOI: 10.1177/09596518241236976
Ying Su, Dongmei Yang, Junchao Ren
This article analyzes the event-triggered (ET) scheme for uncertain discrete-time singular systems via [Formula: see text] sliding mode control (SMC). The issue of network delay is taken into account, and a Bernoulli stochastic variable is used to explain its distribution feature. A sliding mode surface (SMS) function is built by using ET scheme, and the corresponding sliding mode dynamics (SMD) is combined. Then, based on Lyapunov-Kravoskii functional (LKF) stability theory and linear matrix inequality (LMI) technology, [Formula: see text]-admissibility criterion for closed-loop SMD is deduced. Additionally, an improved SMC rule based on ET strategy is created so that the system trajectories can be driven onto the prescribed SMS in finite time. Finally, the effectiveness of the approach is demonstrated by three simulated examples.
本文通过[公式：见正文]滑模控制（SMC）分析了不确定离散时间奇异系统的事件触发（ET）方案。考虑了网络延迟问题，并使用伯努利随机变量解释其分布特征。利用 ET 方案建立滑模曲面（SMS）函数，并结合相应的滑模动力学（SMD）。然后，基于 Lyapunov-Kravoskii 函数（LKF）稳定性理论和线性矩阵不等式（LMI）技术，推导出闭环 SMD 的[公式：见正文]容许性准则。此外，还创建了基于 ET 策略的改进 SMC 规则，以便在有限时间内将系统轨迹驱动到规定的 SMS 上。最后，通过三个模拟实例证明了该方法的有效性。
{"title":"Event-triggered H∞ control for uncertain discrete-time singular systems via sliding mode approach","authors":"Ying Su, Dongmei Yang, Junchao Ren","doi":"10.1177/09596518241236976","DOIUrl":"https://doi.org/10.1177/09596518241236976","url":null,"abstract":"This article analyzes the event-triggered (ET) scheme for uncertain discrete-time singular systems via [Formula: see text] sliding mode control (SMC). The issue of network delay is taken into account, and a Bernoulli stochastic variable is used to explain its distribution feature. A sliding mode surface (SMS) function is built by using ET scheme, and the corresponding sliding mode dynamics (SMD) is combined. Then, based on Lyapunov-Kravoskii functional (LKF) stability theory and linear matrix inequality (LMI) technology, [Formula: see text]-admissibility criterion for closed-loop SMD is deduced. Additionally, an improved SMC rule based on ET strategy is created so that the system trajectories can be driven onto the prescribed SMS in finite time. Finally, the effectiveness of the approach is demonstrated by three simulated examples.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"32 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140630921","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, an adaptive prescribed performance tracking control(PPTC) problem of uncertain nonlinear systems with unknown hysteresis input is investigated. For the purpose of implementing the PPTC, a performance function and an error conversion function are introduced. Moreover, a backlash-like hysteresis model is adopted to describe the hysteresis nonlinearity, which makes the controller design feasible. Additionally, by converting the backlash-like hysteresis model into a linear model with bounded error, the difficulties caused by hysteresis behavior on controller design are settled. Thus, integrating multi-dimensional Taylor network(MTN) approximation technique into adaptive backstepping method, an adaptive control scheme for uncertain nonlinear systems is proposed. Apart from ensuring that all signals of the closed-loop system keep bounded, the proposed control scheme not only makes the tracking error converge to an arbitrarily small neighborhood around the origin, but also guarantees the tracking error trajectory within the limits set by PPTC. Ultimately, two simulations are applied to verify the validity of the proposed control scheme.
{"title":"Adaptive prescribed performance tracking control for uncertain nonlinear systems with unknown backlash-like hysteresis","authors":"Wei Zhao, Shan-Liang Zhu, Ya-Feng Zhou, Yu-Qun Han, Wen-Wu Wang, Qing-Hua Zhou","doi":"10.1177/09596518241236978","DOIUrl":"https://doi.org/10.1177/09596518241236978","url":null,"abstract":"In this paper, an adaptive prescribed performance tracking control(PPTC) problem of uncertain nonlinear systems with unknown hysteresis input is investigated. For the purpose of implementing the PPTC, a performance function and an error conversion function are introduced. Moreover, a backlash-like hysteresis model is adopted to describe the hysteresis nonlinearity, which makes the controller design feasible. Additionally, by converting the backlash-like hysteresis model into a linear model with bounded error, the difficulties caused by hysteresis behavior on controller design are settled. Thus, integrating multi-dimensional Taylor network(MTN) approximation technique into adaptive backstepping method, an adaptive control scheme for uncertain nonlinear systems is proposed. Apart from ensuring that all signals of the closed-loop system keep bounded, the proposed control scheme not only makes the tracking error converge to an arbitrarily small neighborhood around the origin, but also guarantees the tracking error trajectory within the limits set by PPTC. Ultimately, two simulations are applied to verify the validity of the proposed control scheme.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"3 2 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140564440","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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