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检索条件"主题词=Dynamic Surface Control"

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Finite-Time Adaptive dynamic surface control of Dual Motor Driving Systems

Finite-Time Adaptive Dynamic Surface Control of Dual Motor D...

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2013年中国智能自动化学术会议

作者： Dongwu Li Guofa Sun Xuemei Ren Xiaohua Lv School of Automation Beijing Institute of Technology Aerospace Science and Industry Corporation Institute 23 of China Aerospace Science and Industry Corporation

This paper is focused on finite-time adaptive control of dual motor driving servo *** introducing a set of alternative state variables and the corresponding transform,a state space description of dual motor driving servo system is *** on the obtained state space model of dual motor driving servo system,a dynamic surface control(DSC) scheme is proposed,which is able to eliminate the "explosion of complexity" problem inherent in traditional backstepping design and guarantee the finite convergence performance of the tracking *** results are given to illustrate the effectiveness of the proposed approach.

关键词： Dual motor driving servo system Finite-time convergence dynamic surface control Neural network(NN)

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Adaptive dynamic surface control for Simultaneous Stabilization and Tracking of Wheeled Mobile Robot

Adaptive Dynamic Surface Control for Simultaneous Stabilizat...

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第三十九届中国控制会议

作者： Wenrui Shi Lijia Xu Sanyan Chen College of Mechanical and Electrical Engineering Sichuan Agricultural University

In this paper, an adaptive dynamic surface control algorithm is developed to simultaneously solve the problem of stabilization and tracking control for wheeled mobile robot with uncertain parameters and external disturbances. For the kinematic model, virtual controllers are deigned to achieve asymptotic stabilization and tracking. For the dynamic model, fuzzy logic systems are used to approximate the unknown nonlinear functions. Furthermore, the adaptation laws are utilized to estimate the unknown parameters including the upper bounds of external disturbances, as well as the upper bounds of approximation errors and the norms of the optimal weight vectors of the fuzzy logic systems. Incorporating the dynamic surface control technique into the backstepping design method, the dynamic controller is proposed to overcome the problem of ‘explosion of terms’ so that the amount of calculation is reduced and it can be easy to realize in engineering. Using the Lyapunov stability theory, it is proved that the proposed dynamic controller can make the tracking errors converge to a small neighborhood of the origin point. Finally,simulation results are given to show the validity of the proposed control scheme.

关键词： Adaptive control dynamic surface control Fuzzy Logic Systems Wheeled Mobile Robot Stabilization and Tracking

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L∞ dynamic surface control for a Class of Nonlinear Pure-Feedback Systems with Finite-Time Extended State Observer

L∞ Dynamic Surface Control for a Class of Nonlinear Pure-Fe...

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2013年中国智能自动化学术会议

作者： Guofa Sun Xuemei Ren Dongwu Li School of Automation Beijing Institute of Technology Institute 23 of China Aerospace Science and Industry Corporation

This paper presents a novel dynamic surface control(DSC) design for a class of nonlinear pure-feedback system without using adaptive *** introducing a set of alternative state variables and the corresponding transform,statefeedback control of the pure-feedback can be viewed as output-feedback control of a canonical *** estimate unknown states of the newly derived canonical system and the lumped overall uncertainty,a finite-time extended state observer(ESO) is *** closed-loop stability and L convergence of the tracking error to a small compact set around zero are *** simulations are included to verify the reliability and effectiveness of the proposed approach.

关键词： dynamic surface control Pure-feedback system Finite-time extended state observer L∞ stability

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Adaptive dynamic surface control of nonlinear systems with dead zone

Adaptive dynamic surface control of nonlinear systems with d...

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第32届中国控制与决策会议

作者： Dexin Fan Yixin Yin School of Automation and Electrical Engineering University of Science and Technology Beijing Key Laboratory of Knowledge Automation for Industrial Processes Ministry of Education

In this paper,we present control designs for a class of single-input and single-output（SISO） strict-feedback nonlinear systems with unknown dead-zone *** consider the dead zone dynamics,the nonlinear dead zone is first represented as a linear time-varying system with a bounded ***,a backstepping control method is proposed for adaptive controller *** addition to using dynamic surface control（DSC） to solve the problem of the "explosion of complexity",a compensating signal is added to eliminate the effect of the dynamic surface filter ***,the prediction error between the system state and the serial-parallel estimation model is taken into ***,neural networks（NN） are used to deal with the unknown functions in the ***,simulations illustrate the effectiveness of the proposed approach.

关键词： Adaptive control Neural Networks Dead zone dynamic surface control

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Adaptive dynamic surface control of UAV based on RBF neural network

Adaptive dynamic surface control of UAV based on RBF neural ...

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第40届中国控制会议

作者： Zengwu Tian Yimin Zhou Shenzhen Institute of Advanced Technology Chinese Academy of Sciences University of Chinese Academy of Sciences

Unmanned aerial vehicle（UAV） is an underactuated complex nonlinear system, which is easily affected by external disturbance during the flight. In order to achieve high precision trajectory tracking of UAV under the disturbances, the dynamic surface control technology is used to ensure the trajectory tracking capability of the UAV, while the radial basis function（RBF）neural network is used to estimate and compensate the disturbance to realize the disturbance rejection. The stability of the proposed control system is proved by Lyapunov stability theory. Simulation experiments have been performed to validate that the proposed method has high precision trajectory tracking ability and good anti-disturbance capability.

关键词： Adaptive control dynamic surface control RBF neural network UAV

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Adaptive dynamic surface control of Constrained Nonlinear Systems

Adaptive Dynamic Surface Control of Constrained Nonlinear Sy...

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第32届中国控制与决策会议

作者： Ailiang Xing Biao Song Yixin Yin School of Automation and Electrical Engineering University of Science and Technology Beijing Key Laboratory of Knowledge Automation for Industrial Processes Ministry of Education Demonstration and Research Department of Network Information System Beijing Institute of Computer Application

This paper presents an adaptive dynamic surface control for uncertain nonlinear strict feedback systems with constraints on both input and *** technology is employed in the controller *** performance method with asymmetric barrier Lyapunov function（BLF） is used to deal with the output *** input saturation is solved by using the Nussbaum *** dynamic surface control（DSC） technique is employed to reduce the complexity of the virtual *** is illustrated that all closed-loop signals are semi-global uniformly ultimately bounded（SGUUB）.Finally,a simulation example proves the proposed results.

关键词： Input saturation Output constraints Nussbaum function dynamic surface control

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Adaptive dynamic surface Neural control of Pure-Feedback Nonlinear Time-Delay Systems

Adaptive Dynamic Surface Neural Control of Pure-Feedback Non...

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2010 Chinese control and Decision Conference

作者： Min Wang College of Automation,South China University of Technology,Guangzhou 510641,China

＜正＞This paper is concerned with robust stabilization problem for a class of nonaffine pure-feedback systems with unknown time-delay functions and perturbed *** continuous packaged functions are introduced in advance to remove unknown nonlinear terms deduced from perturbed uncertainties and unknown time-delay functions, which avoids the functions with control law to be approximated by radial basis function（RBF） neural *** technique combining implicit function theorem and mean value theorem overcomes the difficulty in controlling the nonaffine pure-feedback *** surface control（DSC） is used to avoid "the explosion of complexity" in the backstepping *** unknown time-delay functions are compensated for using Lyapunov-Krasovskii functionals, RBF neural networks are employed to approximate desired virtual controls and desired practical *** the proposed adaptive neural DSC,the number of adaptive parameters required is reduced significantly,and semi-global uniform ultimate boundedness of all the signals in the closed-loop system is *** studies are given to demonstrate the effectiveness of the proposed scheme.

关键词： Pure-Feedback Systems Nonlinear Time-Delay Systems dynamic surface control Neural Network Adaptive control

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Recursive Slidingmode dynamic surface Adaptive control for surface Vessels Trajectory Tracking with Input Saturation

Recursive Slidingmode Dynamic Surface Adaptive Control for S...

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第32届中国控制与决策会议

作者： Yannan Bi Zhipeng Shen Haomiao Yu Chen Guo Dalian Maritime University

In this paper,we present a MLP neural network-based recursive sliding mode dynamic surface control scheme for a fully actuated surface vessel with uncertain dynamics and external disturbances,where the control input are required to be ***,the minimum learning parameter（MLP） neural networks（NNs）-based are designed to enhance the robustness against model ***,an adaptive law is employed to compensate neural networks approximation errors and *** recursive sliding mode control method combined with dynamic surface control（DSC） is designed to eliminate repeated derivative of virtual control laws and enhance systems *** address control input constraints,a smooth hyperbolic tangent function is incorporated with the control scheme in order to reduce the risk of actuator *** the same time,the Nussbaum function is used to compensate for the saturation approximation and ensure the stability of *** show that under the proposed control method,despite the presence of system uncertainties and disturbances,the tracking errors can converge into arbitrarily small neighborhoods around zero,while the constraint requirements on the control force and torque will not be *** using the Lyapunov function,it is proven that the proposed control method can guarantee the uniform boundedness of all the closed loop ***,simulation results further demonstrate the effectiveness of the proposed method.

关键词： trajectory tracking dynamic surface control input saturation Nussbaum function neural networks

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control Law Design of Aircraft Super-maneuverable Flight Based on dynamic surface Backstepping control

Control Law Design of Aircraft Super-maneuverable Flight Bas...

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2009中国控制与决策会议

作者： LIU Shu-guang,SUN Xiu-xia,DONG Wen-han,SONG Hong-fei Engineering Institute,Air Force Engineering University,Xi''an 710038

＜正＞It proposed a dynamic surface backstepping control for super-maneuverable *** contrast to the basic backstepping method,our scheme abandons the adaptive laws,and introduces sliding surfaces and reaching conditions to design the virtual control signal and the final control ***,instead of involving model differentiation,a low pass dynamic filter is used in the two steps backstepping design,which provides a more simplified control algorithm. The simulation results show that the new scheme achieves a simple design procedure and a satisfying tracking performance.

关键词： Adaptive control Super-maneuver Flight Flight control dynamic surface control Backstepping

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dynamic surface Tracking control Design for Rssler Chaotic Systems with control Input Saturation and Transient Performance

Dynamic Surface Tracking Control Design for Rssler Chaotic...

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第37届中国控制会议

作者： Teng Cao Huajun Gong Wen Chen Bing Han College of Automation Engineering Nanjing University of Aeronautics and Astronautics Division of Engineering Technology Wayne State University

In this paper,the problem of tracking control for a class of r¨ossler chaotic systems with input saturation and transient performance is ***,the nonlinear dynamical models of r¨ossler chaotic systems with input saturation are given,a transient performance bound is introduced,and the problem of guaranteeing transient performance of the tracking error is transformed into boundedness of the transformed ***,the adaptive tracking controller is designed in the framework of dynamic surface control.A compensation control input term is also introduced to solve the control input ***,the stability of the closed-loop systems is analyzed based on the Lyapunov stability ***,simulation results are presented to demonstrate the effectiveness of the proposed approach.

关键词： R¨ossler chaotic systems dynamic surface control control input saturation transient performance

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