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Adaptive asymptotic tracking Control for Stochastic Nonlinear Systems with Unknown Backlash-Like Hysteresis

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Journal of Systems Science & Complexity 2022年第5期35卷 1824-1838页

作者： WANG Le SUN Wei WU Yuqiang School of Mathematics Science Liaocheng UniversityLiaocheng 252000China School of Engineering Qufu Normal UniversityRizhao 276826China

In this study,an adaptive asymptotic tracking control problem is considered for stochastic nonlinear systems with unknown backlash-like *** utilizing backstepping technology and bound estimation approach,an adaptive asymptotic tracking control scheme is designed,where fuzzy systems are applied to approximate unknown function terms,the effect of hysteresis and stochastic disturbances is compensated *** proposed scheme ensures that the tracking error can asymptotically converge to zero in probability and all signals of the closed-loop system are bounded almost ***,the effectiveness of the control scheme is verified by giving a simulation example.

关键词： Adaptive fuzzy control asymptotic tracking stochastic nonlinear systems unknown backlash-like hysteresis

asymptotic tracking Control for Wind Turbines in Variable Speed Mode

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IEEE/CAA Journal of Automatica Sinica 2017年第3期4卷 569-576页

作者： Wei Lin Zongtao Lu Wei Wei Dongguan University of Technology Dongguan 523808China Department of Electrical Engineering and Computer Science Case Western Reserve University

This paper presents a variable speed control strategy for wind turbines in order to capture maximum wind *** turbines are modeled as a two-mass drive-train system with generator torque *** on the obtained wind turbine model,variable speed control schemes are *** tracking controllers are designed to achieve asymptotic tracking for a prescribed rotor speed reference signal so as to yield maximum wind power *** to the difficulty of torsional angle measurement,an observer-based control scheme that uses only rotor speed information is further developed for global asymptotic output *** effectiveness of the proposed control methods is illustrated by simulation results.

关键词： asymptotic tracking partial-state and output feedback two-mass drive-train model variable speed control wind turbines

Simplified Adaptive asymptotic tracking of Uncertain Nonlinear Systems with Unknown Dead-zone Input

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Simplified Adaptive Asymptotic Tracking of Uncertain Nonline...

第36届中国控制会议

作者： LIU Yong-Hua School of Automation Guangdong University of Technology

ISBN: (纸本)9781538629185

This paper is concerned with the problem of dynamic surface asymptotic tracking for a class of uncertain nonlinear systems preceded by unknown input *** utilizing the modified nonlinear filters and a positive time-varying integral function,a smooth adaptive controller is designed via dynamic surface approach,where the compensating terms with the estimate of unknown bounds are employed to eliminate the effects of given continuous functions on a certain compact,unknown deadzone and external *** is shown that all the resulting closed loop signals are semiglobally bounded,and the output tracking error converges to zero ***,simulation results are presented to validate the effectiveness of the proposed design method.

关键词： Nonlinear systems Adaptive control Dynamic surface control asymptotic tracking Dead-zone

Wavelet asymptotic tracking Control for Uncertain Nonlinear Systems

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Wavelet Asymptotic Tracking Control for Uncertain Nonlinear ...

第三十届中国控制会议

作者： QIAO Ji-Hong~1,WANG Hong-Yan~2,CHEN Yan~1 1.College of Computer and Information Engineering,Beijing Technology and Business University,Beijing,100048,P.R.China 2.Department of Information Engineering,Academy of Armored Force Engineering,Beijing 100072,P.R.China

＜正＞A robust adaptive wavelet neural network control of uncertain nonlinear system is proposed to make the tracking error asymptotically converges to *** neural networks are used to approach the unknown *** the parameters of wavelet neural networks are tuned *** terms are used to compensate the approximate *** different from usual robust terms,time-varying parameters are introduced in robust terms to guarantee the closed-system tracing error converges to *** parameters’ update laws of the robust terms are designed by Lyapunov *** systematic design procedure for the controller is addressed by using the backstepping *** is proved that the tracking error asymptotically converges to *** proposed method is validated by simulation.

关键词： Uncertain nonlinear systems asymptotic tracking Wavelet neural network Robust adaptive control Backstepping

Nonlinear asymptotic attitude tracking control of an underactuated 3-degree-of-freedom helicopter using neural network feedforward term

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控制理论与应用（英文版） 2013年第3期11卷 428-435页

作者： Xiang LIU Bin XIAN Jianchuan GUO Bo ZHAO Chen DIAO Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control and School of Electrical Engineering and Automation Tianjin University

This paper proposes a new asymptotic attitude tracking controller for an underactuated 3-degree-of-freedom （DOF） laboratory helicopter system by using a nonlinear robust feedback and a neural network （NN） feedforward term. The nonlinear robust control law is developed through a modified inner-outer loop approach. The application of the NN-based feedforward is to compensate for the system uncertainties. The proposed control design strategy requires very limited knowledge of the system dynamic model, and achieves good robustness with respect to system parametric uncertainties. A Lyapunov-based stability analysis shows that the proposed algorithms can ensure asymptotic tracking of the helicopter＇s elevation and travel motion, while keeping the stability of the closed-loop system. Real-time experiment results demonstrate that the controller has achieved good tracking performance.

关键词： 3-DOF helicopter Nonlinear Robust control asymptotic tracking

Adaptive Control of MIMO Mechanical Systems with Unknown Actuator Nonlinearities Based on the Nussbaum Gain Approach

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IEEE/CAA Journal of Automatica Sinica 2016年第1期3卷 26-34页

作者： Ci Chen Zhi Liu Yun Zhang C.L.Philip Chen Shengli Xie School of Automation Guangdong University of Technology IEEE Faculty of Science and Technology University of Macao Guangdong Key Laboratory of IoT Information Processing

This paper investigates MIMO mechanical systems with unknown actuator nonlinearities. A novel Nussbaum analysis tool for MIMO systems is established such that unknown time-varying control coefficients are tackled. In contrast to existing literatures on continuous-time systems, the newly-developed Nussbaum tool focuses on extending the traditional Nussbaum result from one dimensional case to the multiple one. Specifically,not only the multiple unknown input coefficients are extended to the time-varying, but also the limitation of the prior knowledge of coefficients' upper and lower bounds is removed. Furthermore,an adaptive robust controller associated with the proposed tool is presented. The asymptotic tracking of MIMO mechanical systems is guaranteed with the help of the Lyapunov Theorem. Finally,a simulation example is provided to examine the validity of the proposed scheme.

关键词： Actuator nonlinearities time varying control coefficients Nussbaum analysis asymptotic tracking

Adaptive coordinated control of engine speed and battery charging voltage

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控制理论与应用（英文版） 2008年第1期6卷 69-73页

作者： Jiangyan ZHANG Xiaohong JIAO Institute of Electrical Engineering Yanshan University Qinhuangdao Hebei 066004 China

In this paper, the control problem of auxiliary power unit （APU） for hybrid electric vehicles is investigated. An adaptive controller is provided to achieve the coordinated control between the engine speed and the battery charging voltage. The proposed adaptive coordinated control laws for the throttle angle of the engine and the voltage of the power-converter can guarantee not only the asymptotic tracking performance of the engine speed and the regulation of the battery charging voltage, but also the robust stability of the closed loop system under external load changes. Simulation results are given to verify the performance of the proposed adaptive controller.

关键词： Hybrid electric vehicles Auxiliary power units Engine speed Adaptive coordinated control asymptotic tracking

Control under tracking and Weights: Parameterization of Stabilizing Controllers and H∞ Performance

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Control under Tracking and Weights: Parameterization of Stab...

第30届中国控制与决策会议

作者： Yanyu Huang Yu Feng Information Engineering College Zhejiang University of Technology

This paper considers the problem of measurement output feedback H control subject to asymptotic tracking and unsatble output weights. Based on two Sylvester equations, a specifically structured controller is conducted, and the necessary and sufficient condition is given. By this parameterization, additional performance objective is further tackled via an LMI-based approach and a reduced-order controller synthesis is also discussed. An example is given to show the effectiveness of the current results.

关键词： asymptotic tracking Controller parameterization H∞ performance Output weight Reduced-order controller

Performance-Guaranteed Control of an Autonomous Underwater Vehicle Subject to Time-Varying Disturbances

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Performance-Guaranteed Control of an Autonomous Underwater V...

第30届中国控制与决策会议

作者： Shi-Lu Dai Yungen Peng Shude He School of Automation Science and Engineering South China University of Technology

This paper present a control design technique of asymptotic trajectory tracking with guaranteed transient performance for an autonomous underwater vehicle（AUV） subject to external time-varying disturbances. To achieve the asymptotic convergence of output tracking errors, the robust integral of the sign of the error（RISE） feedback method is employed to compensate for the effect of the external disturbances. In the previous RISE-based control scheme, the upper bounds of the external disturbances and their derivatives are often required to be known a priori, while this requirement is relaxed by adaptive tuning gain of the error sign term. To further provide the transient performance of the tracking errors, the prescribed performance control technique is introduced to guarantee that the convergence rate of the tracking error is faster than a prescribed speed and the overshoot of the tracking error is less than a predefined value. Based on backstepping procedure, prescribed performance control, and Lyapunov synthesis, a RISE-based controller is designed to achieve asymptotic convergence of the tracking errors with guaranteed prescribed performance. The effectiveness of the proposed control strategy is demonstrated through numerical simulation.

关键词： asymptotic tracking Autonomous underwater vehicle(AUV) Adaptive tuning gain Prescribed performance