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robust adaptive control for uncertain nonlinear systems with unknown control directions and actuator nonlinearity

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控制理论与应用（英文版） 2012年第4期10卷 441-450页

作者： Jianhao WANG Jianbo HU Engineering College Air Force Engineering University

A robust adaptive control scheme is proposed for a class of uncertain nonlinear systems in strict feedback form with both unknown control directions and non-symmetric dead-zone nonlinearity based on backstepping design. The conditions that the dead-zone slopes and the boundaries are equal and symmetric are removed by simplifying nonlinear dead-zone input model, the assumption that the priori knowledge of the control directions to be known is eliminated by utilizing Nussbaum-type gain technique and neural networks （NN） approximation capability. The possible controller singularity problem and the effect of dead-zone input nonlinearity are avoided perfectly by combining integral Lyapunov design with sliding mode control strategy. All the signals in the closed-loop system are guaranteed to be semi-globally uniformly ultimately bounded and the tracking error of the system is proven to be converged to a small neighborhood of the origin. Simulation results demonstrate the effectiveness of the proposed control scheme.

关键词： Uncertain nonlinear system robust adaptive control Actuator nonlinearity Backstepping Sliding modecontrol Dead-zone

robust immersion and invariance adaptive coordinated control for a class of biaxial gantry systems

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Journal of control and Decision 2022年第3期9卷 289-300页

作者： Kangjun Wang Xiangbin Liu Hongye Su School of Electronic and Information Engineering Beijing Jiaotong UniversityBeijingPeople’s Republic of China Institute of Cyber-System and control Zhejiang UniversityHangzhouPeople’s Republic of China

This paper proposes a robust Immersion and Invariance(I&I)adaptive coordinated controller for a class of uncertain linear-motor-driven biaxial gantry system subject to external disturbances for high-accuracy contour tracking.Firstly,the dynamic model of the gantry system is transformed into task coordinate frame,through which the contour tracking can be regarded as a regulation problem.Based on the transformed system dynamics,an I&I-based adaptation law with smooth projection is proposed to estimate the unknown parameters.Different from traditional adaptive control,the proposed robust I&I adaptive control introduces a new term called tuning function in adaptation law to shape the dynamic behaviour of the estimation vector.Then the stability of the closed-loop system is proved by Lyapunov theory.Finally,comparative experiments are executed on an industrial biaxial gantry system with two different cases to verify the effectiveness of the proposed control law.

关键词： robust adaptive control immersion and invariance smooth projection coordinated control biaxial gantry contour control

Research of robust adaptive trajectory linearization control based on T-S fuzzy system

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Journal of Systems Engineering and Electronics 2008年第3期19卷 537-545页

作者： Jiang Changsheng Zhang Chunyu Zhu Liang College of Automation Nanjing Univ. of Aeronautics and Astronautics Nanjing 210016 P. R. China National Key Laboratory of Fire control Technology Luoyang 471009 P. R. China

A robust adaptive trajectory linearization control （RATLC） algorithm for a class of nonlinear systems with uncertainty and disturbance based on the T-S fuzzy system is presented. The unknown disturbance and uncertainty are estimated by the T-S fuzzy system, and a robust adaptive control law is designed by the Lyapunov theory. Irrespective of whether the dimensions of the system and the rules of the fuzzy system are large or small, there is only one parameter adjusting on line. Uniformly ultimately boundedness of all signals of the composite closed-loop system are proved by theory analysis. Finally, a numerical example is studied based on the proposed method. The simulation results demonstrate the effectiveness and robustness of the control scheme.

关键词： nonlinear system trajectory linearization control robust adaptive control T-S fuzzy system.

Application of a robust Model Reference adaptive control Algorithm to a Nonlinear Automotive Actuator

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International Journal of Automation and computing 2014年第4期11卷 377-391页

作者： Alessandro di Gaeta Umberto Montanaro Istituto Motori National Research Council Naples Italy

Model reference adaptive control is a viable control method to impose the demanded dynamics on plants whose parameters are affected by large uncertainty. In this paper, we show by means of experiments that robust adaptive methods can effectively face nonlinearities that are common to many automotive electromechanical devices. We consider here, as a representative case study, the control of a strongly nonlinear automotive actuator. The experimental results confirm the effectiveness of the method to cope with unmodeled nonlinear terms and unknown parameters. In addition, the engineering performance indexes computed on experimental data clearly show that the robust adaptive strategy provides better performance compared with those given by a classical model-based control solution with fixed gains.

关键词： Model reference adaptive control robust adaptive control nonlinear systems automotive control electronic throttle body electromechanical actuators

Variational method based robust adaptive control for a guided spinning rocket

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Chinese Journal of Aeronautics 2021年第3期34卷 164-175页

作者： Zhongjiao Shi Liangyu Zhao Zhijie Liu School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing 100083China

In this paper,a robust adaptive controller is designed for a guided spinning rocket,whose dynamics presents the characteristics of pitch-yaw cross coupling,fast time-varying aerodynamics parameters and wide flight envelop.First,a coupled nonlinear six-degree-of-freedom equation of motion for a guided spinning rocket is developed,and the lateral acceleration motion is modeled as a control plant with time-varying matched uncertainties and unmodeled dynamics.Then,a robust adaptive control method is proposed by combining Bregman divergence and variational method to achieve fast adaption and maintain bounded tracking.The stability of the resulting closed-loop system is proved,and the ultimate bound and convergence rate are also analyzed.Finally,numerical simulations are performed for a single operating point and the whole flight trajectory to show the robustness and adaptability of the proposed method with respect to timevarying uncertainties and unmodeled dynamics.

关键词： Autopilot design Guided spinning rockets robust adaptive control Second-order adaptive law Variational method

Improved robust adaptive control of a Fluidized Bed Combustor for Sewage Sludge

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自动化学报 2005年第4期31卷 562-566页

作者： MENG Hong-Xia JIA Ying-Min The Seventh Research Division Beijing University of Aeronautics and AstronauticsBeijing 100083

This paper presents a robust model reference adaptive control scheme to deal with un-certain time delay in the dynamical model of a ?uidized bed combustor for sewage sludge. Thetheoretical analysis and simulation results show that the proposed scheme can guarantee not onlystability and robustness, but also the adaptive decoupling performance of the system.

关键词： robust adaptive control fluidized bed combustor sewage sludge combustion time delay

robust adaptive fault-tolerant control of a tandem coaxial ducted fan aircraft with actuator saturation

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Chinese Journal of Aeronautics 2018年第6期31卷 1298-1310页

作者： Xiaoliang WANG Changle XIANG Homayoun NAJJARAN Bin XU Vehicle Research Center School of Mechanical Engineering Beijing Institute of Technology Okanagan School of Engineering The University of British Columbia

This paper is concerned with the robust adaptive fault-tolerant control of a tandem coaxial ducted fan aircraft under system uncertainty, mismatched disturbance, and actuator saturation.For the proposed aircraft, comprehensive controllability analysis is performed to evaluate the controllability of each state as well as the margin to reject mismatched disturbance without any knowledge of the controller. Mismatched disturbance attenuation is ensured through a structured Hinfinity controller tuned by a non-smooth optimization algorithm. Embedded with the H-infinity controller, an adaptive control law is proposed in order to mitigate matched system uncertainty and actuator fault. Input saturation is also considered by the modified reference model. Numerical simulation of the novel ducted fan aircraft is provided to illustrate the effectiveness of the proposed method. The simulation results reveal that the proposed adaptive controller achieves better transient response and more robust performance than classic Model Reference adaptive control（MRAC） method, even with serious actuator saturation.

关键词： Comprehensive controllability Ducted fan aircraft Fault-tolerant Input saturation robust adaptive control

robust adaptive backstepping control for a class of uncertain nonlinear systems based on disturbance observers

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Science China(Information Sciences) 2010年第6期53卷 1201-1215页

作者： MEI Rong 1,2, WU QingXian 1 & JIANG ChangSheng 1 1 Automation College, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China 2 Criminal Investigation Department, Nanjing Forest Police College, Nanjing 210042, China Automation College Nanjing University of Aeronautics and Astronautics Nanjing China Criminal Investigation Department Nanjing Forest Police College Nanjing China

In this paper, a novel robust adaptive control scheme for a class of uncertain nonlinear systems is proposed using disturbance observer and backstepping method.Firstly, a disturbance observer is developed using radial basis function(RBF) neural network.The parameter updated law of the RBF neural network is given for monitoring subsystem disturbance well.The robust adaptive control scheme is then presented with backstepping method based on the designed disturbance observer.Semiglobal uniform ultimate boundedness(SGUUB) of all signals in the closed-loop uncertain nonlinear system is achieved.The closed-loop system stability analysis shows that semiglobal uniform boundedness of all signals is guaranteed by appropriately choosing design parameters.Finally, two examples are taken to illustrate the effectiveness of the proposed control scheme.

关键词： uncertain nonlinear systems disturbance observer RBF neural network backstepping control robust adaptive control

Improved robust adaptive control of a Fluidized Bed Combustor for Sewage Sludge

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自动化学报 2005年第4期 70-74页

作者： MENG Hong-Xia JIA Ying-Min(The Seventh Research Division, Beijing University of Aeronautics and Astronautics, Beijing 100083)

关键词： robust adaptive control ?uidized bed combustor sewage sludge combustion timedelay