A Saturating Extension of an Output Feedback Controller for Internally Damped Euler‐Lagrange Systems

Shojaei, Khoshnam; Chatraei, Abbas

doi:10.1002/asjc.1115

Cited by 18 publications

(14 citation statements)

References 39 publications

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“…Suppose that Assumptions 1-3 hold. Under the designed closed-loop system consisted by (20), (21), (22), and (28), if the controller parameters c 1 , c 2 , and η 1 satisfy…”

Section: Remarkmentioning

confidence: 99%

“…It may lead to system instability and even leading to task failure due to actuator saturation if the system is not equipped with an effective control strategy to dump the saturated actuators. Although Lyu [20], Fischer et al [21], Shojaei and Chatraei [22], Zhai and Xia [23] and the references therein have developed a range of controllers to effectively handle the limited actuator output, these controllers have not considered actuator faults, and so cannot be applied directly to the FTC of EL system with limited actuator input. Although [24] provided an adaptive fault-tolerant controller for a system with actuator saturation, the controllers required large computation power and were difficult to implement.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive Sliding Mode Tracking Control for Uncertain Euler-Lagrange System

Zhang

Sun

2019

IEEE Access

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This paper proposes an adaptive feedback control strategy-based sliding mode control technique for the EL system with actuator faults and system uncertainties. In order to obtain magnitude limited control input signal, an approximate saturation function is employed to approximate the real saturation with arbitrarily prescribed precision, and then, an auxiliary variable consists of virtual control law and adaptive control law equipped with the fuzzy logic system is introduced to compensate the adverse influence caused by uncertain nonlinear term. Specifically, on-line adaptive algorithm is derived in the sense of Lyapunov stability analysis in the closed loop design. The rigorous theoretical analysis demonstrates that the proposed control law can guarantee all the closed-loop signals, which are semi-globally uniformly ultimately bounded, and the tracking error converges to a small neighborhood of origin. INDEX TERMS Adaptive compensation, sliding mode control, uncertain Euler-Lagrange system, fuzzy logic system.

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“…Suppose that Assumptions 1-3 hold. Under the designed closed-loop system consisted by (20), (21), (22), and (28), if the controller parameters c 1 , c 2 , and η 1 satisfy…”

Section: Remarkmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive Sliding Mode Tracking Control for Uncertain Euler-Lagrange System

Zhang

Sun

2019

IEEE Access

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“…Consider the current-fed model of the IM given by (20), (21) and (22). Let us take in the sequel n p = 1.…”

Section: Ida-pbc Of Current-fed Immentioning

confidence: 99%

Survey on Passivity Based Control of Induction Machine

Becherif

2018

Asian Journal of Control

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Induction machines (IM) constitute a theoretically interesting and practically important class of nonlinear systems. They are frequently used as wind generators for their power/cost ratio. They are described by a fifth-order nonlinear differential equation with two inputs and only three state variables available for measurement. The control task is further complicated by the fact that IM are subject to unknown (load) disturbances and the parameters can be of great uncertainty. One is then faced with the challenging problem of controlling a highly nonlinear system, with unknown time-varying parameters, where the regulated output, besides being unmeasurable, is perturbed by an unknown additive signal. Passivity-based control (PBC) is a well-established structure-preserving design methodology which has shown to be very powerful to design robust controllers for physical systems described by Euler-Lagrange equations of motion. PBCs provide a natural procedure to "shape" the potential energy yielding controllers with a clear physical interpretation in terms of interconnection of the system with its environment and are robust vis á vis to unmodeled dissipative effects. One recent approach of PBC is the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) which is a very useful technique to control nonlinear systems assigning a desired (Port-Controlled Hamiltonian) structure to the closed-loop. The aim of this paper is to give a survey on different PBC of IM. The originality of this work is that the author proves that the well known field oriented control of IM is a particular case of the IDA-PBC with disturbance.

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“…Three saturated non-linear proportional-integral derivative controls with bounded torques for robot manipulators are analysed in [18], new tuning criteria on control gains to ob-tain stability conditions, experimental tests completely fulfil the stability rules on twodegrees-of-freedom robot. A combined adaptive controller-observer system is presented in [25], which reduce the risk of actuator saturation effectively via generalized saturation functions. Semi-global uniform ultimate boundedness stability of the tracking errors and state estimation errors is obtained by Lyapunov stability; simulations results are presented.…”

Section: Introductionmentioning

confidence: 99%