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Finite-time command filtered adaptive control for nonlinear systems via immersion and invariance

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Science China(Information Sciences) 2021年第9期64卷 151-164页

作者： Jinpeng YU Peng SHI Xinkai CHEN Guozeng CUI School of Automation Qingdao University School of Electrical and Electronic Engineering The University of Adelaide Department of Electronic and Information Systems Shibaura Institute of Technology School of Electronic and Information Engineering Suzhou University of Science and Technology

This paper investigates the problem of finite-time adaptive output tracking control for strictfeedback nonlinear systems with parametric uncertainties. Command signals and their derivatives are generated by a new command filter based on a second-order finite-time differentiator, which attenuates the chattering phenomenon. The parameter estimations are achieved by an immersion and invariance approach without requiring the certainty equivalence principle. The finite-time adaptive controller is constructed via a backstepping design method, a finite-time command filter, and a modified fractional-order error compensation mechanism. The proposed control strategy guarantees the finite-time boundedness of all signals in the closed-loop system, and the tracking error is driven into an arbitrarily small neighborhood of the origin in finite time. Finally, the new design technique is validated in a simulation example of the electromechanical system.

关键词： adaptive control finite-time control command-filtered backstepping immersion and invariance

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 ***,the dynamic model of the gantry system is transformed into task coordinate frame,through which the contour tracking can be regarded as a regulation *** on the transformed system dynamics,an I&I-based adaptation law with smooth projection is proposed to estimate the unknown *** 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 *** the stability of the closed-loop system is proved by Lyapunov ***,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

immersion and invariance Based Composite Adaptive Control of Nonlinear High-Order Systems

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Immersion and Invariance Based Composite Adaptive Control of...

第30届中国控制与决策会议

作者： Zhen Liu Ruyi Yuan Guoliang Fan Jianqiang Yi Institute of Automation Chinese Academy of Sciences

A new nonlinear composite adaptive control based on immersion and invariance theory is presented for a class of high-order system with parametric *** main feature of this control scheme lies in the construction of the adaptive law,which is driven by both tracking error and prediction *** tracking-error based adaptation law is first constructed using immersion and invariance theory,then the prediction-error based adaptation law is added to it,thus makes a composite adaptive control *** combination is applied to the immersion and invariance based adaptive control with improved *** analysis is presented using Lyapunov theory,which shows asymptotical convergence of the tracking error to *** validity of the proposed control scheme is illustrated through numerical simulations.

关键词： immersion and invariance Adaptive Control Composite Adaptive Control High-Order Systems

immersion and invariance Based Nonlinear Adaptive Control of Hypersonic Vehicles

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Immersion and Invariance Based Nonlinear Adaptive Control of...

第24届中国控制与决策会议

作者： Yuehui Ji, Qun Zong, Fanlin Zeng Department of Electrical Engineering and Automation, Tianjin University, Tianjin 300072, China

A theoretical framework of nonlinear adaptive flight control is addressed and applied to a generic Hypersonic Flight Vehicle longitudinal model. A combination of dynamic inversion technology and back-stepping is adopted for designing a dynamic state-feedback controller that provides stable tracking of the velocity and altitude reference trajectories. The new type of nonlinear parameter estimator based on immersion and invariance （I＆I） methodology is constructed to guarantee the parameter estimate errors can convergent to zero and the performance of closed-loop system is satisfied. A Lyapunov-based stability analysis of closed-loop system is derived. The proposed methodology is verified in numerical simulations in a climbing maneuver case of separate velocity and altitude reference commands.

关键词： Hypersonic Vehicles immersion and invariance Nonlinear Adaptive Control Tracking Control

immersion and invariance based Robust Adaptive Control for Near Space Morphing Vehicles with Input Nonlinearity

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Immersion and Invariance based Robust Adaptive Control for N...

第37届中国控制会议

作者： Qingyun Yang School of Mechanical and Electrical Engineering Zaozhuang University

A novel robust adaptive control scheme is proposed for attitude dynamics of near space morphing vehicles（NSMV）with unknown system uncertainties and input *** eliminate the effects of input nonlinearity including input deadzone and saturation,the right inverse of the dead-zone is placed before the input nonlinearity,and the input nonlinearity problem can be transformed into input saturation problem which can be solved by the auxiliary system ***,the immersion and invariance based observer is adopted to estimate the unknown ***,combining with the immersion and invariance based observer,a robust adaptive controller is develop,and the stability of the closed-loop system is proved by choosing appropriate common Lyapunov ***,simulation results are studied to validate the effectiveness of the proposed control scheme.

关键词： Near Space Morphing Vehicles Input Nonlinearity Robust Adaptive Control immersion and invariance

Robust immersion and invariance Adaptive Control of Linear Motor System

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Robust Immersion and Invariance Adaptive Control of Linear M...

第三十九届中国控制会议

作者： Kangjun Wang Xiangbin Liu Jiaqi Liu School of Electronic and Information Engineering Beijing Jiaotong University

In this paper, a novel robust adaptive control law based on immersion and invariance（I＆I） method for the uncertain linear motor system subjected to external disturbances is proposed to achieve satisfying motion control performance. To deal with the parametric uncertainties in the system, an I＆I adaption law with smooth projection is designed to handle the unknown parameters in the system. Different from traditional adaptive control, the presented robust I＆I adaptive control additionally introduces a tuning function in adaption law, which shapes the convergence dynamic of the parameter estimation vector. The stringent stability of the closed-loop linear motor system is proved in this paper. Finally, both numerical simulation and experimental results demonstrate that the proposed control law can guarantee prominent transient and steady-state performance of the linear motor system.

关键词： Linear Motor immersion and invariance Robust Adaptive Control Smooth Projection

Function Approximation Technique Based immersion and invariance Control for Motor Servo System

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Function Approximation Technique Based Immersion and Invaria...

第40届中国控制会议

作者： Wei Chen Jian Hu Weirong Nie School of Mechanical Engineering Nanjing University of Science and Technologe

In the motor servo system,structured and unstructured uncertainties are the main reasons to limit motion *** nonlinear controllers discuss structured and unstructured uncertainties separately,which increases the complexity of controller *** this paper,a function approximation technique based immersion and invariance（IIFAT） adaptive controller is proposed for the motor servo *** this method,both the structured and unstructured uncertainties of the system are regarded as unmodeled dynamics,and the unmodeled dynamics are fitted by weighted basis functions and a remainder *** updated law of the weight of the basis function is designed by the immersion and invariant *** the one hand,the function approximation technique simplifies the design of the controller,on the other hand,the immersion and invariance adaptive method enhances the robustness of the *** addition,the reliability of the controller theory is proved by Lyapunov stability analysis,and the good performance of the controller under different working conditions is verified by simulation experiments.

关键词： Adaptive control immersion and invariance Function approximation technique motor servo system

Finite-time attitude control of rigid spacecrafts using immersion and invariance

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Finite-time attitude control of rigid spacecrafts using imme...

第40届中国控制会议

作者： Yuhao Yang Hongqian Lu Xu Zhang Xianlin Huang School of Astronautics Harbin Institute of Technology

This paper proposes two constructive approaches to design an attitude controller for a rigid spacecraft. Standard I＆I control strategy gives a new insight into the attitude controller design where the manifold is rendered invariant and ***-time I＆I control strategy improves the performance by driving the off-the-manifold variable to converge to zero in finite time. Detailed theoretical proof and derivation of finite time are provided. Performance of the proposed controllers are demonstrated by simulations, and comparison with backstepping method is also given to prove the effectiveness of the proposed control strategies.

关键词： rigid spacecraft immersion and invariance attitude control finite-time attractivity

A novel three-inflection-point sliding mode control framework for forward-tilting morphing aerospace vehicle with performance constraints and actuator faults

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Chinese Journal of Aeronautics 2024年第8期37卷 293-310页

作者： Xinkai LI Lei DOU Hongli ZHANG Yue MENG School of Electrical Engineering Xinjiang UniversityUrumqi 830047China

A prescribed performance control scheme based on the three-inflection-point hyperbolic function and predefined time performance function is proposed to solve the trajectory tracking problem of the forward-tilting morphing aerospace vehicle with time-varying actuator *** accurately estimate the loss degree of actuator faults,an immersion and invariance observer based on the predefined time dynamic scale factor is designed to estimate and compensate it.A composite dynamic sliding mode surface is designed using a three-inflection-point hyperbolic function,and a novel three-inflection-point sliding mode control framework is *** convergent domain of the sliding manifold is adjusted by parameters,and the system error convergence is controllable.A transfer function is designed to eliminate the sensitivity of the three-inflection-point hyperbolic sliding mode to the unknown initial state,and combined with the barrier Lyapunov function,and the performance constraint of the system is *** global asymptotic stability of the system is demonstrated using a strict mathematical *** effectiveness and superiority of the proposed control scheme are proven by simulation experiments.

关键词： Morphing aerospace vehicle Actuator faults immersion and invariance Three-inflection-point sliding mode control Prescribed performance control