A unified time-varying feedback approach and its applications in adaptive stabilization of high-order uncertain nonlinear systems

Sun, Zong‐Yao; Li, Ting; Yang, Shaohua

doi:10.1016/j.automatica.2016.04.010

Cited by 121 publications

(72 citation statements)

References 26 publications

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“…Assumption 3 indicates that the disturbance estimation is also bounded. Viewing Equations 16,19,23, and 25, it is easy to check that all of the virtual control laws α 1 , …, α n-1 are bounded, and then Equation 32 indicates that z u is bounded. Finally, it can be obtained from Equation 31 that u is bounded.…”

Section: Discussionmentioning

confidence: 99%

“…In Equation 19, α 2a is a model-based compensation law through online state estimation, and α 2s is a robust feedback control law used to stabilize the nonlinear system.…”

Section: Controller Designmentioning

confidence: 99%

“…Especially in Sun et al 17 and Sun and Liu, 18 stabilization of high-order uncertain nonlinear systems with state delays were investigated by using adaptive approach. 19,20 This paper focuses on the problem of input delay, ie, the time delay that occurs between the control input and the plant. Specifically, predictor-based techniques such as Artstein model reduction 2 and finite spectrum assignment, 3 which originate from classic Smith predictor method, 4 are typically exploited to compensate for the input delay.…”

Section: Introductionmentioning

confidence: 99%

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Time‐varying input delay compensation for nonlinear systems with additive disturbance: An output feedback approach

Deng

Yao

2017

Intl J Robust & Nonlinear

119

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SummaryThis paper addresses the output feedback tracking control of a class of multipleinput and multiple-output nonlinear systems subject to time-varying input delay and additive bounded disturbances. Based on the backstepping design approach, an output feedback robust controller is proposed by integrating an extended state observer and a novel robust controller, which uses a desired trajectory-based feedforward term to achieve an improved model compensation and a robust delay compensation feedback term based on the finite integral of the past control values to compensate for the time-varying input delay. The extended state observer can simultaneously estimate the unmeasurable system states and the additive disturbances only with the output measurement and delayed control input. The proposed controller theoretically guarantees prescribed transient performance and steady-state tracking accuracy in spite of the presence of time-varying input delay and additive bounded disturbances based on Lyapunov stability analysis by using a LyapunovKrasovskii functional. A specific study on a 2-link robot manipulator is performed; based on the system model and the proposed design procedure, a suitable controller is developed, and comparative simulation results are obtained to demonstrate the effectiveness of the developed control scheme. | INTRODUCTIONTime delay that includes state delay and input delay is a pervasive phenomenon encountered in many practical engineering applications such as robotic systems, electrical networks, and hydraulic actuation systems. The existence of time delay may result in unexpected degradation in control performance and even instability. 1 Hence, how to effectively attenuate the effect of time delay has always been the research hotspot during the latest several decades, with numerous control schemes proposed, such as previous studies 2-12 for input delay and other studies [13][14][15][16][17][18] for state delay. Especially in Sun et al 17 and Sun and Liu, 18 stabilization of high-order uncertain nonlinear systems with state delays were investigated by using adaptive approach. 19,20 This paper focuses on the problem of input delay, ie, the time delay that occurs between the control input and the plant. Specifically, predictor-based techniques such as Artstein model reduction 2 and finite spectrum assignment, 3 which originate from classic Smith predictor method, 4 are typically exploited to compensate for the input delay. The core design in these predictor-based approaches is to transform the delayed system to a delay free one by using finite integrals over past control values. 21 In addition, many predictive controllers have also been synthesized based on the fact that the input delayed systems can be modeled as

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Section: Discussionmentioning

confidence: 99%

“…In Equation 19, α 2a is a model-based compensation law through online state estimation, and α 2s is a robust feedback control law used to stabilize the nonlinear system.…”

Section: Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Time‐varying input delay compensation for nonlinear systems with additive disturbance: An output feedback approach

Deng

Yao

2017

Intl J Robust & Nonlinear

119

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“…In recent years, finite‐time control has attracted considerable attention, which has always been an active area in the field of nonlinear control. The main reason is derived from the fact that it usually demonstrates faster convergence, higher accuracy and better robustness against various uncertainties than asymptotic counterpart . On the other hand, stochastic disturbances and serious uncertainties may be inevitable in most practical systems.…”

Section: Introductionmentioning

confidence: 99%

Finite‐time stabilization for a class of stochastic low‐order nonlinear systems with unknown control coefficients

Shao

et al. 2020

Intl J Robust & Nonlinear

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Summary This paper addresses the problem of finite‐time stabilization for a class of low‐order stochastic upper‐triangular nonlinear systems corrupted by unknown control coefficients. Unlike the relevant schemes, the control strategy draws into a dominate gain to cope with the deteriorative effects of both uncertain nonlinearities and unknown control coefficients without using traditional adaptive compensation method. Then, a state feedback controller is constructed by the adding a power integrator method and modified homogeneous domination approach, to ensure the finite‐time stability of the closed‐loop system. Finally, the effectiveness of proposed control strategy has been demonstrated by a simulation example.

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“…Researchers have not yet found any unified way to handle the problem of global output feedback stabilization because the measure of states is difficult. Fortunately, with the help of nonseparation principle [1], homogeneous domination approach [2], and backstepping method, many interesting results such as [3][4][5][6][7][8][9][10][11] have been achieved.…”

Section: Introductionmentioning

confidence: 99%

Global Output Feedback Stabilization for a Class of Nonlinear Cascade Systems

Liu

Sun

Meng

et al. 2018

Mathematical Problems in Engineering

Self Cite

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This paper focuses on the problem of global output feedback stabilization for a class of nonlinear cascade systems with timevarying output function. By using double-domination approach, an output feedback controller is developed to guarantee the global asymptotic stability of closed-loop system. The novel control strategy successfully constructs a unified Lyapunov function, which is suitable for both upper-triangular and lower-triangular systems. Finally, two numerical examples are provided to illustrate the effectiveness of a control strategy.

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A unified time-varying feedback approach and its applications in adaptive stabilization of high-order uncertain nonlinear systems

Cited by 121 publications

References 26 publications

Time‐varying input delay compensation for nonlinear systems with additive disturbance: An output feedback approach

Time‐varying input delay compensation for nonlinear systems with additive disturbance: An output feedback approach

Finite‐time stabilization for a class of stochastic low‐order nonlinear systems with unknown control coefficients

Global Output Feedback Stabilization for a Class of Nonlinear Cascade Systems

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