Observer-based adaptive prescribed performance tracking control for nonlinear systems with unknown control direction and input saturation

Wang, Cai-Cheng; Yang, Guang-Hong

doi:10.1016/j.neucom.2018.01.023

Cited by 43 publications

(37 citation statements)

References 33 publications

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“…However, all the error mapping functions used in [30–39] were logarithmic functions. In [40, 41], the non‐logarithmic piecewise error mapping functions were proposed to deal with the prescribed performance problem for the output tracking control of a class of MIMO non‐linear system. In [42, 43], the unified form error mapping functions were proposed to deal with the full state constrained problem for the output tracking control of MIMO non‐linear systems.…”

Section: Introductionmentioning

confidence: 99%

Simple adaptive trajectory tracking control of underactuated autonomous underwater vehicles under LOS range and angle constraints

Zhu

et al. 2020

IET Control Theory & Applications

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Section: Introductionmentioning

confidence: 99%

Simple adaptive trajectory tracking control of underactuated autonomous underwater vehicles under LOS range and angle constraints

Zhu

et al. 2020

IET Control Theory & Applications

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“…However, the logarithmic error mapping functions used in related works [25][26][27][28][29][30][31][32][33] lead to the potential singularity problem of the designed control laws. 34 In order to avoid this problem, Han and Lee 34 and Wang and Yang 35 constructed the nonlogarithmic piecewise error mapping functions to achieve the prescribed performance control for a class of strict-feedback nonlinear systems and a class of MIMO nonlinear systems, respectively.…”

Section: Introductionmentioning

confidence: 99%

Robust adaptive trajectory tracking control of underactuated autonomous underwater vehicles with prescribed performance

Sun

et al. 2019

Intl J Robust & Nonlinear

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Summary In this paper, a novel robust adaptive trajectory tracking control scheme with prescribed performance is developed for underactuated autonomous underwater vehicles (AUVs) subject to unknown dynamic parameters and disturbances. A simple error mapping function is proposed in order to guarantee that the trajectory tracking error satisfies the prescribed performance. A novel additional control based on Nussbaum function is proposed to handle the underactuation of AUVs. The compounded uncertain item caused by the unknown dynamic parameters and disturbances is transformed into a linear parametric form with only single unknown parameter called virtual parameter. On the basis of the above, a novel robust adaptive trajectory tracking control law is developed using dynamic surface control technique, where the adaptive law online provides the estimation of the virtual parameter. Strict stability analysis indicates that the designed control law ensures uniform ultimate boundedness of the AUV trajectory tracking closed‐loop control system with prescribed tracking performance. Simulation results on an AUV in two different disturbance cases with dynamic parameter perturbation verify the effectiveness of our adaptive trajectory tracking control scheme.

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“…On the other hand, an effective solution that keeps the error state within the prescribed performance bounds is prescribed performance control (PPC) technology, which first proposed by Bechlioulis and Rovithakis [18]. Subsequently, many scholars have theoretically studied PPC schemes for different nonlinear systems [19]- [28]. This method can be divided into two steps, the first step is to transform the constrained tracking error dynamic system into an unconstrained equivalent transformation system; the second step is to prove that the transformation variable is bounded.…”

Section: Introductionmentioning

confidence: 99%

“…This method can be divided into two steps, the first step is to transform the constrained tracking error dynamic system into an unconstrained equivalent transformation system; the second step is to prove that the transformation variable is bounded. For a given prescribed performance bound condition −µ(t) < e(t) < µ(t), µ(t) is usually selected as µ(t) = (µ 0 −µ ∞ )e −λt +µ ∞ , where µ 0 > µ ∞ > 0 (see [19]- [22]). The initial value e(0) must be given and satisfied −µ(0) < e(0) < µ(0) in advance.…”

Section: Introductionmentioning

confidence: 99%

“…Recently, many literatures have studied the PPC of nonlinear system with unknown control gain signs. In [19], Wang and Yang proposed a feedback tracking control scheme by using the PPC strategy. In [20], the coefficient matrix G(x) was assumed that the sign of G(x) are unknown and (G(x) + G T (x))/2 uniformly positive definite or uniformly negative definite.…”

Section: Introductionmentioning

confidence: 99%

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Fuzzy Adaptive Prescribed Performance Tracking Control for Uncertain Nonlinear Systems With Unknown Control Gain Signs

Xiang

Liu

2019

IEEE Access

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This work addresses fuzzy adaptive tracking control of uncertain nonlinear systems with unknown control gain signs. Nussbaum functions are used to eliminate the effect of unknown control directions (i.e. unknown control gain signs). In order to make tracking errors approach a predefined neighborhood, two controllers are developed by the aid of fuzzy adaptive prescribed performance control (PPC) technique. The controlled system is transformed to an equivalent one by using appropriate transformation function. Under the proposed tracking controllers without accurate initial errors, the boundedness of all involved variables is guaranteed. Moreover, the tracking errors can remain within the small prescribed performance bounds (PPBs). Finally, simulation results show the effectiveness of the proposed methods.

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Observer-based adaptive prescribed performance tracking control for nonlinear systems with unknown control direction and input saturation

Cited by 43 publications

References 33 publications

Simple adaptive trajectory tracking control of underactuated autonomous underwater vehicles under LOS range and angle constraints

Simple adaptive trajectory tracking control of underactuated autonomous underwater vehicles under LOS range and angle constraints

Robust adaptive trajectory tracking control of underactuated autonomous underwater vehicles with prescribed performance

Fuzzy Adaptive Prescribed Performance Tracking Control for Uncertain Nonlinear Systems With Unknown Control Gain Signs

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