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Event-Triggered Optimal adaptive control Algorithm for Continuous-Time Nonlinear Systems

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IEEE/CAA Journal of Automatica Sinica 2014年第3期1卷 282-293页

作者： Kyriakos G.Vamvoudakis the Center for control Dynamicalsystems and Computation(CCDC)University of California

This paper proposes a novel optimal adaptive eventtriggered control algorithm for nonlinear continuous-time *** goal is to reduce the controller updates,by sampling the state only when an event is triggered to maintain stability and *** online algorithm is implemented based on an actor/critic neural network structure.A critic neural network is used to approximate the cost and an actor neural network is used to approximate the optunal event-triggered *** in the algorithm proposed there are dynamics that exhibit continuous evolutions described by ordinary differential equations and instantaneous jumps or impulses,we will use an impulsive system approach.A Lyapunov stability proof ensures that the closed-loop system is asymptotically ***,we illustrate the effectiveness of the proposed solution compared to a timetriggered controller.

关键词： Learning (artificial intelligence) Heuristic algorithms Neural networks Nonlinear systems Bandwidth Linear systems adaptive control

Bi-Objective Optimal control Modification adaptive control for Systems with Input Uncertainty

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IEEE/CAA Journal of Automatica Sinica 2014年第4期1卷 423-434页

作者： Nhan T.Nguyen Sivasubramanya N.Balakrishnan the NASA Ames Research Center Moffett Field the Missouri University of Science and Technology

This paper presents a new model-reference adaptive control method based on a bi-objective optimal control formulation for systems with input uncertainty. A parallel predictor model is constructed to relate the predictor error to the estimation error of the control effectiveness matrix. In this work, we develop an optimal control modification adaptive control approach that seeks to minimize a bi-objective linear quadratic cost function of both the tracking error norm and the predictor error norm simultaneously. The resulting adaptive laws for the parametric uncertainty and control effectiveness uncertainty are dependent on both the tracking error and the predictor error, while the adaptive laws for the feedback gain and command feedforward gain are only dependent on the tracking error. The optimal control modification term provides robustness to the adaptive laws naturally from the optimal control framework. Simulations demonstrate the effectiveness of the proposed adaptive control approach.

关键词： Optimal control adaptive control Uncertainty Adaptation models Robustness Cost function NASA Learning (artificial intelligence)

adaptive estimation and control for uncertain nonlinear systems and full actuation control

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Science China(Information Sciences) 2023年第11期66卷 169-184页

作者： Fei YAN Mingyuan ZHANG Guoxiang GU School of Information Science and Technology Southwest Jiaotong University School of Electrical Engineering and Computer Science Louisiana State University

We study adaptive control for a family of nonlinear systems, involving unknown and uncertain parameters. The proposed control law estimates the system parameters adaptively and stabilizes the closedloop system asymptotically for the initial state over any given bounded set of the state-space. Moreover,reconstruction filters are designed to obtain error residue signals and to enable the use of the least-squares algorithm for estimating the parameters, in order to achieve the convergence based on the persistent excitation condition and asymptotic linearization. The proposed methods are applicable to full actuation and under actuation control systems. Simulation studies are carried out for a pendulum system and for a third-order vehicle model, as well as control of vehicle platoons, validating the theoretical results presented in this paper.

关键词： adaptive control asymptotic stabilization full actuation and underactuation least-squares nonlinear systems

Memory-augmented adaptive flocking control for multi-agent systems subject to uncertain external disturbances

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Chinese Physics B 2022年第2期31卷 189-195页

作者：王希铭孙金生李志韬吴梓杏 School of Automation Nanjing University of Science and TechnologyNanjing 210094China

This paper presents a novel flocking algorithm based on a memory-enhanced disturbance *** compensate for external disturbances,a filtered regressor for the double integrator model subject to external disturbances is designed to extract the disturbance *** the filtered regressor method,the algorithm has the advantage of eliminating the need for acceleration information,thus reducing the sensor requirements in *** the information obtained from the filtered regressor,a batch of stored data is used to design an adaptive disturbance observer,ensuring that the estimated values of the parameters of the disturbance system equation and the initial value converge to their actual *** result is that the flocking algorithm can compensate for external disturbances and drive agents to achieve the desired collective behavior,including virtual leader tracking,inter-distance keeping,and collision *** simulations verify the effectiveness of the algorithm proposed in the present study.

关键词： flocking control multi-agent systems adaptive control disturbance rejection

adaptive Tracking control for Output-Constrained Switched MIMO Pure-Feedback Nonlinear Systems with Input Saturation

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Journal of Systems Science & Complexity 2023年第3期36卷 960-984页

作者： ZHANG Haoyan ZHAO Xudong WANG Huanqing NIU Ben XU Ning College of control Science and Engineering Bohai UniversityJinzhou 121013China Faculty of Electronic Information and Electrical Engineering Dalian University of TechnologyDalian 116024China College of Mathematical Science Bohai UniversityJinzhou 121013China School of Information Science and Engineering Shandong Normal UniversityJinan 250014China College of Information Science and Technology Bohai UniversityJinzhou 121013China

In this paper,an adaptive neural tracking control scheme for a class of uncertain switched multi-input multi-output(MIMO)pure-feedback nonlinear systems is *** considered MIMO pure-feedback nonlinear system contains input and output constraints,completely unknown nonlinear functions and time-varying external *** unknown nonlinear functions representing system uncertainties are identified via radial basis function neural networks(RBFNNs).Then,the Nussbaum function is utilized to deal with the nonlinearity issue caused by the input *** prevent system outputs from violating prescribed constraints,the barrier Lyapunov functions(BLFs)are ***,a switched disturbance observer is designed to make the time-varying external disturbances *** on the backstepping recursive design technique and the Lyapunov stability theory,the developed control method is verified applicable to ensure the boundedness of all signals in the closed-loop system and make the system output track given reference signals ***,a numerical simulation is given to demonstrate the effectiveness of the proposed control method.

关键词： adaptive control input saturation neural networks output constraints switched MIMO pure-feedback nonlinear systems

Hardware-in-loop adaptive neural control for a tiltable V-tail morphing aircraft

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Defence Technology（防务技术） 2023年第4期22卷 197-211页

作者： Fu-xiang Qiao Jing-ping Shi Xiao-bo Qu Yong-xi Lyu School of Automation Northwestern Polytechnical UniversityXi'an710129China Shaanxi Province Key Laboratory of Flight control and Simulation Technology Xi'an710129China

This paper proposes an adaptive neural control(ANC)method for the coupled nonlinear model of a novel type of embedded surface morphing aircraft which has a tiltable V-tail.A nonlinear model with sixdegrees-of-freedom is *** first-order sliding mode differentiator(FSMD)is applied to the control scheme to avoid the problem of“differential explosion”.Radial basis function neural networks are introduced to estimate the uncertainty and external disturbance of the model,and an ANC controller is proposed based on this design *** stability of the proposed ANC controller is proved using Lyapunov theory,and the tracking error of the closed-loop system is semi-globally uniformly *** effectiveness and robustness of the proposed method are verified by numerical simulations and hardware-in-the-loop(HIL)simulations.

关键词： Morphing aircraft Back-stepping control adaptive control Neural networks Radial basis function

Semitensor product based adaptive control for attitude tracking of spacecraft with unknown external disturbances

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控制理论与应用（英文版） 2012年第3期10卷 292-296页

作者： Xuxi ZHANG control and Simulation Center Harbin Institute of TechnologyHarbin Heilongjiang 150001China College of Science Harbin Engineering UniversityHarbin Heilongjiang 150001China

This paper investigates the attitude tracking and disturbance rejection problem of rigid spacecraft. Using a new matrix product, i.e., the semitensor product of matrices, the parameter uncertainties in the inertia matrix is isolated. Both the parameter uncertainties and the external disturbance are handled by robust adaptive control method. By combining the semitensor product of matrices, backstepping control methodology, and adaptive control technique, a new adaptive control law is designed. Simulation result is also presented to demonstrate the proposed design method.

关键词： Semitensor product adaptive control Attitude tracking Disturbance rejection

Use of single chip microcomputer in hydraulic digital adaptive control system

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Journal of Harbin Institute of Technology(New Series) 2001年第2期8卷 196-198页

作者：吴振顺袁建光汲永涛熊汉文 Dept. of Energy Sci. Harbin Inst. of Technol. Harbin 150001 China

Presents a one grade adaptive controller with one reference model which is built according to δ MRACS adaptive control theory and used to control an actual high order hydraulic system, and the whole hardware system used, which includes a AT89C51 single chip microcomputer, 74Ls373 flip latch, 6116 store, eight bit ADC0809, and so on, and the satisfactory results obtained in study on hydraulic control system.

关键词： adaptive control single chip microcomputer

A new theorem to synchronization of unified chaotic systems via adaptive control

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Journal of University of Science and Technology Beijing 2003年第6期10卷 72-75页

作者： Lequan Min and Jianyi JingApplied Science School, University of Science and Technology Beijing, Beijing 100083, China Univ Sci & Technol Beijing Appl Sci Sch Beijing 100083 Peoples R China

Chaos synchronization has been applied in secure communication, chemicalreaction, biological systems, and information processing. A new theorem to synchronization ofunified chaotic systems via adaptive control is proposed. The constructive theorem provides thedesign scheme for adaptive controller such that a respond system can synchronize with respect to anuncertain drive system. One example for discontinuous chaotic system is proposed to illustrate theeffectiveness and feasibility.

关键词： uncertain chaotic system adaptive control synchronization Chua's circuit