Hypersonic tracking control under actuator saturations via readjusting prescribed performance functions

Bu, Xiangwei; Jiang, Baoxu; Feng, Yin’an

doi:10.1016/j.isatra.2022.08.016

Cited by 11 publications

(9 citation statements)

References 57 publications

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“…Inspired by [21], adjustable prescribed performance functions are proposed, which can be adaptively readjusted according to the input saturation to avoid the singularity problem.…”

Section: A Adjustable Prescribed Performancementioning

confidence: 99%

“…Most of the fixed-time control schemes for quadrotors could cause an unpredictable accident due to only considering the steady-state performance of the tracking error without transient performance. Prescribed performance control (PPC) methods [18]- [21] are known for constraining the tracking error within a predefined function and have been extensively studied and widely employed in the literature. The PPC methods utilize an error transformation function to convert the constrained dynamics into unconstrained dynamics and integrate the original dynamics with performance functions.…”

Section: Introductionmentioning

confidence: 99%

“…To achieve global proximate tracking in the fixed-time stabilization of uncertain robot manipulators, a nonsingular terminal sliding mode PPC strategy is proposed in [20], which combines the advantages of fixed-time methods, sliding mode algorithms, and PPC, resulting in an improved convergence rate and steady-state and transient performance. To avoid the issue of singularity caused by the maximum value of the tracking error that may exceed the predefined performance boundary, an adjustable prescribed performance function (APPF) is proposed, and a new compensation system is designed for the input saturation problem for hypersonic flight vehicles that are subject to actuator saturations in [21]. In [22], a novel approximation-free simple control scheme is proposed, along with a thrust saturation approach, which is capable of bypassing ideal attitude extraction singularities in position control design.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Fixed-Time Self-Structuring Neuron Network-Based Adjustable Prescribed Performance Control for a Quadrotor UAV With Input Saturation

Liu,

Zheng,

Zhang

et al. 2024

IEEE Access

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This paper introduces a fixed-time self-structuring neural network (SSNN)-based adjustable prescribed performance control for quadrotors designed to handle mutational external disturbances and input saturation. To address the unpredictable nature of such disturbances during missions, SSNN is proposed for limited on-board resources of the quadrotors. This kind of neural network can adaptively adjust the number of neurons in real time to achieve more precise estimations while minimizing resource consumption. Second, to overcome the singularity problem that arises when the tracking error may exceed the boundary of the envelope when a mutation disturbance occurs, an adaptively adjustable prescribed performance function is proposed to constrain the tracking error, which is always within the envelope to avoid the singularity problem. A fixed-time adaptive command filter that can estimate an unknown upper bound on the derivative of the virtual control law with respect to time is proposed and improves the convergence rate. Under Lyapunov's theorem, it is demonstrated that the closed-loop system can converge to the origin within a fixed time, showcasing the effectiveness of the proposed control strategy as evidenced by comparative simulation experiments.

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“…Inspired by [21], adjustable prescribed performance functions are proposed, which can be adaptively readjusted according to the input saturation to avoid the singularity problem.…”

Section: A Adjustable Prescribed Performancementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Fixed-Time Self-Structuring Neuron Network-Based Adjustable Prescribed Performance Control for a Quadrotor UAV With Input Saturation

Liu,

Zheng,

Zhang

et al. 2024

IEEE Access

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“…Therefore, a performance function was designed by Bu et al by adaptively regulating the constraint [25]. A PPC method with an adjustable boundary was also designed in [26], and both of them used a ln-type performance function, but the ln-type performance function is complicated to calculate.…”

Section: A Introductionmentioning

confidence: 99%

Self-Adjusting Prescribed Performance H∞ Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles

Zhuo,

Liu,

Tian

et al. 2024

IEEE Access

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A predefined-time H∞ trajectory tracking control scheme based on self-adjusting prescribed performance functions and dynamic relative threshold event-triggered mechanism is proposed for a five-degree-of-freedom underactuated autonomous underwater vehicle (AUV) with unknown external disturbances and actuators saturated. First, a new self-adjusting prescribed performance function is designed to ensure that the tracking errors do not exceed the prescribed bounds and to solve the singularity problem of general prescribed performance control (PPC) due to actuator saturation. Second, a predefinedtime H∞ controller combined with a predefined-time dynamic surface control (DSC) method is proposed to guarantee that system signals converge to the neighborhood of zero in a predefined time without adjusting the control parameters and to improve system robustness to uncertain disturbances. Third, an improved dynamic relative threshold event-triggered method is designed to save the communication resources of an underactuated AUV system. Then, the Lyapunov stability proof indicates that all signals in the closed-loop system are predefined-time bounded, and the trajectory tracking errors can converge to the neighborhood of zero within the set desired time. Finally, the simulations not only demonstrate the performance of the proposed controller-controlled system but also verify the effectiveness of the proposed scheme.

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“…On the attempt of extension method for transformed error restraining, barrier Lyapunov function (BLF) was modified and improved through embedment of novel techniques by [39] in guaranteeing systematic stability facing transformed error which surpassed the established boundary. Readjusting performance function based approach upon fine-tuning of prescribed performance function with accordance to the prescribed constraints on error tracking was additionally proposed by [40]. Comparable modification and association of PPC to data driven methods were also ventured for improved precision of model-based control systems [41,42].…”

Section: Introductionmentioning

confidence: 99%

Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator

Irawan

Azahar

Pebrianti

2022

Journal of Robotics and Control

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Pneumatic robot is a fluid dynamic based robot system which possesses immense uncertainties and nonlinearities over its electrical driven counterpart. Requirement for dynamic motion handling further challenged the implemented control system on both aspects of interaction and compliance control. This study especially set to counter the unstable and inadaptable proportional motions of pneumatic robot grasper towards its environment through the employment of Variable Convergence Rate Prescribed Performance Impedance Control (VPPIC) with pressure-based force estimation (PFE). Impedance control was derived for a single finger of Tri-finger Pneumatic Grasper (TPG) robot, with improvement being subsequently made to the controller’s output by appropriation of formulated finite-time prescribed performance control. Produced responses from exerted pressure of the maneuvered pneumatic piston were then recorded via derived PEE with adherence to both dynamics and geometry of the designated finger. Validation of the proposed method was proceeded on both circumstances of human hand as a blockage and ping-pong ball as methodical representation of a fragile object. Developed findings confirmed relatively uniform force sensing ability for both proposed PEE and load sensor as equipped to the robot’s fingertip with respect to the experimented thrusting and holding of a human hand. Sensing capacity of the estimator has also advanced beyond the fingertip to enclose its finger in entirety. Whereas stable interaction control at negligible oscillation has been exhibited from VPPIC against the standard impedance control towards gentle and compression-free handling of fragile objects. Overall positional tracking of the finger, thus, justified VPPIC as a robust mechanism for smooth operation amid and succeed direct object interaction, notwithstanding its transcendence beyond boundaries of the prescribed performance constraint.

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Hypersonic tracking control under actuator saturations via readjusting prescribed performance functions

Cited by 11 publications

References 57 publications

Fixed-Time Self-Structuring Neuron Network-Based Adjustable Prescribed Performance Control for a Quadrotor UAV With Input Saturation

Fixed-Time Self-Structuring Neuron Network-Based Adjustable Prescribed Performance Control for a Quadrotor UAV With Input Saturation

Self-Adjusting Prescribed Performance H∞ Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles

Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator

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