Disturbance Observer Based Controller Under Noisy Measurement for Tracking of nDOF Uncertain Mismatched Nonlinear Interconnected Systems

Chaudhari, Sushant; Shendge, P. D.; Phadke, S. B.

doi:10.1109/tmech.2020.2980636

Cited by 13 publications

(8 citation statements)

References 35 publications

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“…, and the following conditions hold, the fuzzy controller ( 5) is considered to be the CCC for system (6)…”

Section: Resultsmentioning

confidence: 99%

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Constrained Cost Fuzzy Control via Decentralized Design Approach for Nonlinear Descriptor Interconnected Systems

Chang

et al. 2023

Machines

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This paper proposes a decentralized robust constrained cost fuzzy controller (DRCCFC) design for nonlinear descriptor interconnected systems (DIS) with uncertainties. The considered nonlinear DIS is modeled using Takagi–Sugeno fuzzy model (T-S FM) with fuzzy rules and strong interconnections. To derive sufficient stability conditions, the quadratic Lyapunov function (QLF) and free-weighting function (FWF) are defined. In contrast to the existing control approaches, the proportional–derivative feedback (PDF) control is introduced in this paper. Using the PDF control techniques, the regular and causal problems of the system can be solved easily. Based on the PDF control technique and constrained cost control (CCC) function, a set of fuzzy controllers are designed to effectively control the Takagi–Sugeno descriptor interconnected systems (T-S DIS). Then, the proposed sufficient conditions for the T-S DIS are derived in the form of linear matrix inequalities using the Schur complement technique. Finally, two simulation examples are provided to demonstrate the validity of the proposed control scheme.

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“…, and the following conditions hold, the fuzzy controller ( 5) is considered to be the CCC for system (6)…”

Section: Resultsmentioning

confidence: 99%

“…They explore various applications and domains aiming to exploit the potential of this paradigm. For example, the application of disturbance observer-based control in IS has been thoroughly studied [6]. In another study [7], the authors delved into the analysis of wind farms using the IS method.…”

Section: Introductionmentioning

confidence: 99%

Constrained Cost Fuzzy Control via Decentralized Design Approach for Nonlinear Descriptor Interconnected Systems

Chang

et al. 2023

Machines

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“…i,s γ i,s − γi,s . Our goal is to design an estimator in the form of ( 9)-(13) for system (8) which is capable of obtaining the unbiased estimates of γ i,s and xi,s in the presence of the measurement saturations and the interconnections between different nodes. Furthermore, the estimator parameters at every node will be determined with aim to minimize an upper bound of the fault estimation error covariance at each time step.…”

Section: Problem Formulationmentioning

confidence: 99%

“…Apart from the measurement saturation, another frequently encountered phenomenon in the complex networks is the nonlinearities. To date, the analysis/synthesis problems of nonlinear systems with distributed structures have been extensively studied in [8], [14], [25], [47], where the addressed nonlinear functions have mostly been handled under some linear constraints such as sector-bounded conditions and Lipschitz conditions. Nonetheless, the FD-related results have been quite scarce for nonlinear complex networks.…”

Section: Introductionmentioning

confidence: 99%

Joint State and Fault Estimation of Complex Networks Under Measurement Saturations and Stochastic Nonlinearities

Liu

Wang

Zou

et al. 2022

IEEE Trans. on Signal and Inf. Process. over Networks

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“…Trajectory tracking control algorithms for AUV stochastic uncertain nonlinear systems have been proposed. In paper [20], the concept of the stochastic system model is creatively introduced. In article [21,22], a comprehensive trajectory tracking control and path planning problem is researched.…”

Section: Introductionmentioning

confidence: 99%

Research on Practical Path Tracking Control of Autonomous Underwater Vehicle Based on Constructive Dynamic Gain Controller

Wang,

Peng,

Guo

2023

JMSE

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In this study, the stochastic nonlinear system-based trajectory tracking control problem of an autonomous underwater vehicle (AUV) is studied. We investigate the time-varying gain adaptive control method to find possible approaches to reduce the excessive computational burden. Enhanced adaptive algorithms are devised by considering the dynamic characteristics of AUV motion. By transforming the original controller design problems into parameter selection problems and subsequently solving them using the functional time-varying observer technical theorem, we can achieve optimal control performance. The control system is shown to constrain system state error due to stochastic disturbances within arbitrarily small domains. A coordinate transformation is proposed for all system states to meet boundedness conditions. We show that the closed-loop stability is confirmed, the system is asymptotically probabilistically stable, and contraction limits given in the stability analysis may be used to certify the convergence of the AUV trajectory errors. A large number of simulation studies using an underwater vehicle model have proved the effectiveness and robustness of the proposed approach. A real-time, time-varying gain constructive control strategy is further developed for the hardware-in-the-loop simulation; the effectiveness of the controller design is confirmed by introducing the controller into the AUV actuator model.

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Disturbance Observer Based Controller Under Noisy Measurement for Tracking of nDOF Uncertain Mismatched Nonlinear Interconnected Systems

Cited by 13 publications

References 35 publications

Constrained Cost Fuzzy Control via Decentralized Design Approach for Nonlinear Descriptor Interconnected Systems

Constrained Cost Fuzzy Control via Decentralized Design Approach for Nonlinear Descriptor Interconnected Systems

Joint State and Fault Estimation of Complex Networks Under Measurement Saturations and Stochastic Nonlinearities

Research on Practical Path Tracking Control of Autonomous Underwater Vehicle Based on Constructive Dynamic Gain Controller

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