Adaptive output tracking of inherently nonlinear systems with nonlinear parameterization

Lin, Wei; Pongvuthithum, Radom

doi:10.1109/tac.2003.817922

Cited by 117 publications

(44 citation statements)

References 30 publications

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“…Although practical tracking has a relatively conservative objective, it requires rather milder restrictions on the systems and the reference signals than asymptotic tracking, and particularly, is adequate for many real applications. Therefore, practical tracking has been an appealing research topic (see, e.g., [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15] and references therein). However, in many of the related studies, e.g., [1][2][3][4][5][6][7][8][9], only the basic steady-state tracking performance (i.e., the ultimate convergence of the tracking error) is achieved, which is sometimes far from enough for real applications.…”

Section: Introductionmentioning

confidence: 99%

“…During the past two decades, a variety of control design methods have been developed for system (1) (see, e.g., [2,3,6,8,[17][18][19][20] and references therein). Particularly, inspired by [19], Ref.…”

Section: Introductionmentioning

confidence: 99%

“…Subsequently, Ref. [3] considered the case with serious parametric uncertainties in the system and the reference signal to be tracked. As further development, Refs.…”

Section: Introductionmentioning

confidence: 99%

“…However, Refs. [3,8,21] do not allow non-parametric uncertainties in the system, that is, g i (•) and f i (•) are required to be dominated by unknown constants and known functions. Remark that [4,10,22,23] and [24] respectively proposed timevarying schemes of practical tracking and stabilization for systems with non-parametric uncertainties.…”

Section: Introductionmentioning

confidence: 99%

“…Besides somewhat limitations on handling uncertainties, the tracking schemes in [3,8,21] only guarantee pre-specified tracking accuracy, but are incapable of prescribing the arrival time or the maximum overshoot of the tracking error. Here we specially mention [4,10,11,22,23], where prescribed transient performance is jointly involved.…”

Section: Introductionmentioning

confidence: 99%

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Global practical tracking with prescribed transient performance for inherently nonlinear systems with extremely severe uncertainties

Liu

2018

Sci. China Inf. Sci.

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This paper considers the global practical tracking for a class of uncertain nonlinear systems. Remarkably, the systems under investigation admit rather inherent nonlinearities, and especially allow arguably the most severe uncertainties: unknown control directions and non-parametric uncertainties. Despite this, a refined tracking objective, rather than a reduced one, is sought. That is, not only pre-specified arbitrary tracking accuracy is guaranteed, but also certain prescribed transient performance (e.g., arrival time and maximum overshoot) is ensured to better meet real applications. To solve the problem, a new tracking scheme is established, crucially introducing delicate time-varying gains to counteract the severe uncertainties and guarantee the prescribed performance. It is shown that the designed controller renders the tracking error to forever evolve within a prescribed performance funnel, through which the desired tracking objective is accomplished for the systems. Particularly, by subtly specifying the funnel, global fixed-time practical tracking (i.e., that with prescribed arrival time) and semiglobal practical tracking with prescribed maximal overshoot can be achieved for the systems. Moreover, the tracking scheme remains valid in the presence of rather less-restrictive unmodeled dynamics.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

“…Subsequently, Ref. [3] considered the case with serious parametric uncertainties in the system and the reference signal to be tracked. As further development, Refs.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Global practical tracking with prescribed transient performance for inherently nonlinear systems with extremely severe uncertainties

Liu

2018

Sci. China Inf. Sci.

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Global adaptive regulation control for a class of nonlinear systems with unknown control coefficients

2015

Adaptive Control & Signal

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This paper is concerned with the global asymptotic regulation control problem for a class of nonlinear uncertain systems with unknown control coefficients. The allowed class of uncertainties include unmeasured input-to-state stable (ISS) and/or weaker integral ISS (iISS) inverse dynamics, parametric uncertainties, and uncertain nonlinearities. By using the Nussbaum-type gain technique and changing the ISS/integral ISS inverse dynamics supply rates, we design a dynamic output feedback controller which could guarantee that the system states are asymptotically regulated to the origin from any initial conditions, and the other signals are bounded in closed-loop systems. The numerical example of a simple pendulum with all unknown parameters and without velocity measurement illustrates our theoretical results. The simulation results demonstrate its efficacy.

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Adaptive fuzzy control for high‐order nonlinear systems with time‐varying full‐state constraints and input saturation

Liu

Jiang

2022

Adaptive Control & Signal

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The adaptive control for a class of high-order nonlinear systems with time-varying full-state constraints and input saturation is investigated in this paper. To deal with time-varying constraints, a type of high-order barrier Lyapunov functions(BLFs) are constructed. Its performance can be guaranteed with the disappearance of constraints. By building fuzzy systems, unknown functions can be approximated. Together with adding a power integrator technique and the gain-update law, an adaptive controller is designed. As a result, all the constraints are not breached, and the tracking error converges to an arbitrarily small zone around the origin. Finally, a practical example and a numerical example illustrate the effectiveness of the proposed method.

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Adaptive output tracking of inherently nonlinear systems with nonlinear parameterization

Cited by 117 publications

References 30 publications

Global practical tracking with prescribed transient performance for inherently nonlinear systems with extremely severe uncertainties

Global practical tracking with prescribed transient performance for inherently nonlinear systems with extremely severe uncertainties

Global adaptive regulation control for a class of nonlinear systems with unknown control coefficients

Adaptive fuzzy control for high‐order nonlinear systems with time‐varying full‐state constraints and input saturation

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