Adaptive finite‐time tracking control for parameterized nonlinear systems with full state constraints

Wu, Ziwen; Zhang, Tianping

doi:10.1002/acs.3286

Cited by 8 publications

(5 citation statements)

References 46 publications

(92 reference statements)

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“…20 In addition, it is known that many practical systems will be inevitably affected by various constraints and dealing with the constraint problem in control design has aroused extensive research interest. [21][22][23][24][25][26][27][28][29] Different methods has been proposed to handle the constraints with output and state constraints. 20,30 It should be noted that the above references do not study the adaptive prescribed-time control with output and state constraints.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, the controller is fully valid for not only the finite time interval but also beyond the settling time 20 . In addition, it is known that many practical systems will be inevitably affected by various constraints and dealing with the constraint problem in control design has aroused extensive research interest 21–29 . Different methods has been proposed to handle the constraints with output and state constraints 20,30 .…”

Section: Introductionmentioning

confidence: 99%

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Adaptive prescribed‐time tracking control for uncertain nonlinear systems with full state constraints

Liu,

Li,

et al. 2024

Adaptive Control & Signal

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SummaryThis paper investigates the adaptive tracking control in a prescribed‐time for a class of uncertain nonlinear systems with a full state constraint. Firstly, in order to restrict the state constraints, the barrier Lyapunov function is employed and parameter uncertainty is handled based on linear‐in‐the‐parameters (LIP). A prescribed‐time adaptive controller is then designed by backstepping to ensure that the closed‐loop system can reach zero in a prescribed finite time under any given initial conditions. The prescribed‐time is independent of the design of the parameters. Finally, two simulation examples verify the effectiveness and usability of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive prescribed‐time tracking control for uncertain nonlinear systems with full state constraints

Liu,

Li,

et al. 2024

Adaptive Control & Signal

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“…Neural network (NN) control with learning capability and good quality in an approximation of nonlinear function is a useful selection for modeling complicated processes and compensating for unstructured uncertainties [34][35][36]. Wu et al [37] presented a tracking control method leveraging RBFNN with the aim of minimizing the tracking error in nonlinear systems. Qiu et al [38] introduced an adaptive NN control algorithm tailored for MIMO nonlinear systems to tackle unknown dynamical behaviors.…”

Section: Introductionmentioning

confidence: 99%

Observer-Based Fault-Tolerant Control for Uncertain Robot Manipulators without Velocity Measurements

Tran,

Nguyen,

et al. 2024

Actuators

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In recent years, robot manipulator arms have become increasingly prevalent and are playing pivotal roles across various industries. Their ability to replace human labor in arduous and hazardous tasks has positioned them as indispensable assets. Consequently, there has been a surge in research efforts aimed at enhancing their operational performance. The imperative to improve their efficiency and effectiveness has garnered significant attention within the research community. In this study, a novel fault-tolerant control (FTC) scheme for robot manipulators to handle the effects of the unknown input is proposed to aid robots in achieving good tracking performance. In the first step, an extended state observer (ESO) is constructed to approximate both velocities and the unknown input in the robot system. The observer offers estimation information with good accuracy and quick convergence. The estimated signals are then combined with computed torque control (CTC), which is a useful control technique for trajectory tracking of robot manipulator systems, to construct an active FTC to decrease the influences of the unknown input. The proposed algorithm does not require velocity measurement in the design process. In addition, with a novel design approach, the combination of controller and observer provides a novel control signal that delivers higher tracking performance compared to the traditional design approach. The global and asymptotic stability of the suggested technique is proved through the Lyapunov theory. Finally, simulations are implemented on a 2-degree-of-freedom (DOF) robot manipulator to validate the efficiency of the proposed controller–observer method.

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“…Nevertheless, for conventional adaptive control, the regulation time is not guaranteed and may be long because the classical stability concepts are only applicable in the sense that the time tends to infinity. In order to meet the time requirements in practical applications, the concept of finite‐time stability was proposed in References 22‐25. By combining a finite‐time control theory and backstepping technique, Li et al 26 designed a novel adaptive tracking controller for full‐state constrained systems.…”

Section: Introductionmentioning

confidence: 99%

Adaptive predefined‐time tracking control for high‐order strict‐feedback nonlinear systems with unknown mismatched disturbances

Jia

Huang

2022

Adaptive Control & Signal

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Summary The problem of practical predefined‐time tracking control is con sidered for high‐order strict‐feedback nonlinear systems subject to unknown mismatched disturbances. The exact bound of the mismatched disturbances is unknown in this study. A novel adaptive predefined‐time tracking control strategy based on backstepping is proposed by applying a predefined time stability theory. Using the designed tracking controller, all signals are bounded, and a user‐defined bound on the tracking error is ensured in a predefined interval, independent of initial states. The estimation parameters associated with the upper bound of the disturbances are updated adaptively, making the system robust to the disturbances. Simulation studies are conducted to illustrate the performance of the proposed control strategy.

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Adaptive finite‐time tracking control for parameterized nonlinear systems with full state constraints

Cited by 8 publications

References 46 publications

Adaptive prescribed‐time tracking control for uncertain nonlinear systems with full state constraints

Adaptive prescribed‐time tracking control for uncertain nonlinear systems with full state constraints

Observer-Based Fault-Tolerant Control for Uncertain Robot Manipulators without Velocity Measurements

Adaptive predefined‐time tracking control for high‐order strict‐feedback nonlinear systems with unknown mismatched disturbances

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