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Adaptive output-feedback tracking for nonlinear systems with unknown control direction and generic inverse dynamics

Science China(Information Sciences) 2022年第8期65卷 134-149页

作者： Yuan WANG Yungang LIU School of control Science and Engineering Shandong University

This paper studies adaptive output-feedback tracking for a class of typical uncertain nonlinear systems. In the context of unknown control direction, a generic uncertainty encountered inevitably in practice is adequately taken into consideration, i.e., the ISpS(input-to-state practically stable) inverse dynamics acting as the dynamic differences between the real plants and the models. Besides, the systems in question also permit two critical ingredients, i.e., unmeasured-state dependent nonlinearities and arbitrary functionof-output growth on unknown system nonlinearities. The three ingredients together largely challenge the feasibility/availability of practical tracking by means of output feedback. Nevertheless, a new control strategy is proposed by flexibly integrating the dynamic compensation based on Nussbaum-type gain, backstepping design technique together with the refined pseudo-sign and pseudo-dead-zone functions that were introduced for the first time in our previous studies. The two refined functions, which are sufficiently smooth, can moderately avoid the use of smooth domination/treatment in control design and can potentially render the attained control strategy tighter and less conservative. Moreover, to keep the order of the closed-loop system at a low level, an n-dimensional filter with a dynamic high gain is delicately devised instead of a2 n-dimensional one used in the relevant literature. It turns out that the proposed adaptive output-feedback controller is capable of guaranteeing the global boundedness of all states of the resulting closed-loop system,while steering the system tracking error to enter, in finite time, a prescribed λ-neighborhood of the origin and keeping it inside thereafter. A simulation example is provided to demonstrate the proposed approach.

关键词： nonlinear systems ISpS inverse dynamics unknown control direction practical output tracking global output feedback adaptive compensation

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Robust adaptive repetitive learning control for a class of time-varying nonlinear systems with unknown control direction

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控制理论与应用（英文版） 2013年第3期11卷 336-342页

作者： Miao YU Xudong YE Donglian QI College of Electrical Engineering Zhejiang University

A robust adaptive repetitive learning control method is proposed for a class of time-varying nonlinear systems. Nussbaum-gain method is incorporated into the control design to counteract the lack of a priori knowledge of the control direction which determines the motion direction of the system under any input. It is shown that the system state could converge to the desired trajectory asymptotically along the iteration axis through repetitive learning. Simulation is carried out to show the validity of the proposed control method.

关键词： Repetitive learning control (RLC) unknown control direction Nussbaum gain

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Global adaptive output-feedback tracking with prescribed performance for uncertain nonlinear systems

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Science China(Information Sciences) 2024年第5期67卷 150-164页

作者： Yuan WANG Yungang LIU School of control Science and Engineering Shandong University

At present, one typical control strategy for guaranteeing transient and steady-state performance is funnel control and prescribed performance control. The strategy features completely discarding the system nonlinearities, even if they are completely known and available. Such an intrinsic feature requires the controller to produce a larger control effect to eliminate the negative impact caused by the high nonlinearities, leading to a conservative controller. In this paper, we fully take advantage of known information on nonlinearities in control design, instead of completely discarding it as done in funnel control. Particularly, we leverage adaptive techniques(i.e., high-gain dynamic compensation) to deal with unknown system nonlinearities. Meanwhile, we integrate the tools of output feedback, tracking control, and the performance guarantee.As such, an adaptive output-feedback scheme is developed for global tracking with spatiotemporal performance specifications: arbitrarily given tracking accuracy and accuracy-ensured time. A simulation example supports the developed approach.

关键词： uncertain nonlinear systems output feedback prescribed performance unknown control direction dynamic high gain global tracking

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Neural Adaptive Output-Feedback control of Non-affine Nonlinear Systems with unknown control direction

Neural Adaptive Output-Feedback Control of Non-affine Nonlin...

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第30届中国控制与决策会议

作者： Jiahua Dai Gang Chen College of Automation Chongqing University

This paper presents a neuro-adaptive output feedback controller for a class of non-affine nonlinear systems.Firstly, by introducing the newly defined variables and applyling the mean value theorem, the non-affine dynamic is transformed into an affine form, and a finite time observer is designed to estimate the unknown states of the system.Secondly, based on the transformed system, by introducing the neural networks(NNs) and the Nussbaum-type function,the problem of lack of priori knowledge on the dynamic model and control direction is addressed. In addition, a barrier Lyapunov function(BLF) is introduced to guarantee the prescribed tracking performance of the control system. The stability of the closed-loop system is analyzed. Simulations are conducted to verify the effectiveness of the proposed control law.

关键词： Non-affine nonlinear system unknown control direction Output-feedback control

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Adaptive NN control of a Class of Nonlinear Systems with unknown control direction

Adaptive NN Control of a Class of Nonlinear Systems with Unk...

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第二十六届中国控制会议

作者： Zhao Zhuwei,Huang Shengjie,Luo Qi Nanjing University of Information Science & Technology,Institute of Information & control,Nanjing 210044,P.R.China

In this paper,Adaptive neural-network（NN） control which is combined with the technique of variable structure con- trol（VSC） is presented for a class of nonlinear system with unknown control directions.In the course of design,the procedure of the adaptive NN controller design is firstly applied via backstepping approach;then ,the control directions were rectified by defining the shifting conditions of the VSC.All the signals in the closed loop are guaranteed to be semiglobally uniformly ulti- mately bounded and the output of the system is proven to converge to a small neighborhood of the desired trajectory.Simulation results demonstrated the effectiveness of the approach.

关键词： neural networks nonlinear system unknown control direction control of variable structure adaptive control

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An Adaptive controller of Discrete-time Systems with unknown control direction

An Adaptive Controller of Discrete-time Systems with Unknown...

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第三十届中国控制会议

作者： YAN Weili,SUN Mingxuan College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,P.R.China

In this paper,a novel adaptive control scheme is proposed for a class of discrete-time nonlinear systems with unknown control direction.Without using the discrete Nussbaum gain,the proposed scheme directly estimates the unknown control gain instead of its inverse.The singularity of the control law is overcome by using the previous estimated control gain when the current one falls into a small neighborhood of zero.The proposed adaptive control,with using a modified projection algorithm, can guarantee boundedness of all the closed-loop signals and convergence of the tracking error.An illustrative example is presented to verify effectiveness of the proposed scheme.

关键词： Adaptive control unknown control direction Discrete-time Systems

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Distributed Containment control for a Class of Uncertain Nonlinear Multi-Agent Systems With unknown control direction

Distributed Containment Control for a Class of Uncertain Non...

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第36届中国控制会议

作者： Hui Cheng Yi Dong Department of Automation Nanjing University of Science and Technology

ISBN: (纸本)9781538629185

This paper considers distributed coordinated control for multi-agent systems composed of multiple heterogeneous leaders and a class of uncertain nonlinear systems with external disturbances. What makes our problem more interesting and challenging is that the control direction of each nonlinear subsystem is unknown. Inspired by output regulation theory, based on the distributed internal model technique, a distributed control strategy is proposed to drive a group of heterogeneous agents with general nonlinear dynamics to converge to the convex hull spanned by multiple heterogeneous leader systems.

关键词： Multi-agent systems containment control unknown control direction output regulation problem

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Adaptive Fuzzy control for a Class of Nonlinear Time-delay Systems with unknown control direction

Adaptive Fuzzy Control for a Class of Nonlinear Time-delay S...

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第二十九届中国控制会议

作者： LI Xiaoqiang1,WANG Dan1,YAO Yubin1,LAN Weiyao2,PENG Zhuohua1,SUN Gang1 1.Marine Engineering College,Dalian Maritime University,Dalian 116026,P.R.China.2.Department of Automation,xiamen University,Xiamen 361005,P.R.China.

A fuzzy robust adaptive control design scheme is developed for a class of uncertain nonlinear system represented by input-output models with time-delay.The control direction of the system is unknown.By on-line approximating the unknown nonlinear functions with fuzzy logic systems and using Nussbaum control gain technique,the control law and the update law are constructed.Based on the Lyapunov stability theory,it is proved that with the proposed control law and update laws,the closed-loop system is guaranteed to be stable and the tracking error converges with a desired precision.A simulation example is presented to demonstrate the method.

关键词： Fuzzy control Time-delay System unknown control direction

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Practical prescribed-time tracking control for uncertain strict-feedback systems with guaranteed performance under unknown control directions

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Journal of Automation and Intelligence 2023年第2期2卷 99-104页

作者： Zhou Yang Yujuan Wang Frank L.Lewis School of Automation Chongqing UniversityChongqing400044China The UTA Research Institute University of Texas at ArlingtonFort WorthUnited States of America

In this paper,we consider the practical prescribed-time performance guaranteed tracking control problem for a class of uncertain strict-feedback systems subject to unknown control direction.Due to the existence of unknown nonlinearities and uncertainties,it is challenging to design a controller that can ensure the stability of closed-loop system within a predetermined finite time while maintaining the specified transient performance.The underlying problem becomes further complex as the control directions are unknown.To deal with the above problems,a special translation function as well as Nussbaum type function are introduced in the prescribed performance control(PPC)framework.Finally,a PPC as well as preset finite time tracking control scheme is designed,and its effectiveness is confirmed by both theoretical analysis and numerical simulation.

关键词： Strict-feedback systems Practical prescribed-time control Prescribed performance control unknown control direction

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Nussbaum Function Based control Design for A Class of Uncertain Stochastic High-order Nonlinear Systems

Nussbaum Function Based Control Design for A Class of Uncert...

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第36届中国控制会议

作者： ZHANG Jian MU Xiaowu LIU Yungang School of Mathematics and Statistics Zhengzhou University School of control Science and Engineering Shandong University

ISBN: (纸本)9781538629185

In this paper, the global adaptive stabilization is investigated for a class of uncertain stochastic high-order nonlinear systems in which there exist serious nonlinearities and unknowns. For details, on one hand, the considered systems allow the higher system nonlinearities（i.e. the power of the function） and include the strict-feedback systems as its special case. On the other hand, the unknown parameterized system nonlinear terms and the unknown control direction（i.e. the sign of the control gain） are both considered in the control design, without a doubt, those unknowns make the system appreciably general and practical. By skillfully combining the adaptive design method and Nussbaum function based design technique, a feasible adaptive stabilizing control scheme is successfully presented, by which the obtained controller can effectively guarantee that all the closed-loop system states are bounded almost surely, and especially the original system states converge to the origin with probability one.

关键词： Stochastic High-order Nonlinear Systems unknown control direction Nussbaum Function Global Adaptive Stabilization

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