Output feedback control of integrator systems with disturbance and input saturation

Mi, Yize; Yao, Jianyong; Deng, Wenxiang; Xie, Yuanlai

doi:10.1016/j.jfranklin.2020.07.013

Cited by 8 publications

(14 citation statements)

References 25 publications

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“…The tracking error can be converged to zero by choosing the suitable parameters of the controller. The conclusions is the same as in [46] that a solution of disturbance and input saturation can be found in output feedback control of integrator systems with disturbance and input saturation .…”

Section: B Adaptive Sliding Controller Based On Backsteppingsupporting

confidence: 55%

Adaptive Nonlinear Control for the Stabilized Platform With Disturbance and Input Saturation

Zhang

Guan

et al. 2020

IEEE Access

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This paper proposes a control strategy including super-twisting extended state observer (STESO) and sliding mode controller based on backstepping technique for the stabilized platform with disturbance and input saturation. Firstly, the system is modelled to obtain a non-matched nonlinear model. Secondly, two STESOs are designed to estimate the disturbances in the matched channel and the unmatched channel. And then, multi-sliding mode controller based on backstepping technique is designed for non-matched nonlinear system; and the first-order auxiliary system is introduced to alleviate the effect of the input saturation. Furthermore, Lyapunov function is used to prove the stability of the closed system with the proposed controller and finite-time convergence proof is given in this paper. Finally, comparative simulations are carried out and the results show the effectiveness of the proposed controller. It is proved that the control accuracy is improved effectively and the proposed controller can guarantee the consistent tracking error of the system.

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Section: B Adaptive Sliding Controller Based On Backsteppingsupporting

confidence: 55%

Adaptive Nonlinear Control for the Stabilized Platform With Disturbance and Input Saturation

Zhang

Guan

et al. 2020

IEEE Access

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“…The comparison with the state of the art of nested-saturation-function-based control is illustrated in the previous result, 29 which shows the superior performance of the proposed controller compared with the existing results. In this section, the purpose of the simulation is twofold: (1) To demonstrate the capability of the proposed scheme to deal with both parametric uncertainties and unmodeled uncertainties, by comparing with two well-known controllers.…”

Section: Simulation Resultsmentioning

confidence: 94%

“…39 Different from the structure of ESO, 40 the estimation of unmodeled uncertainties xn+1 in SLESO is saturated (i.e., sat d m 𝜂 (x n+1 )), in order to mitigate the high-gain response, which is a tailored modification to saturated control problem. 29 Let ê i = xi − y (i−1) d , then the derivative of ê i can be transformed as…”

Section: Controller Designmentioning

confidence: 99%

“…Various approaches have been proposed to deal with input saturation, such as anti-windup scheme, [19][20][21][22] model predictive control 23,24 and nested saturation function. [25][26][27][28][29] Nested saturation function approach is first introduced to solve the stabilization problem of a chain of integrators with input saturation in Reference 25, where two issues arise: the deteriorated transient performance with large initial conditions for high order systems 30 and the conservative controller which fails to account for disturbance. 26 Many modifications are developed to solve the former problem.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive output feedback control of uncertain nonlinear systems with input saturation

Yao

2023

Intl J Robust & Nonlinear

Self Cite

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This article concerns with the tracking control problem for a class of control-affine nonlinear systems subject to input saturation, parametric uncertainties and unmodeled uncertainties. The proposed scheme consists of a nested-saturation-function-based controller integrated with feedforward model compensation. A saturated linear extended state observer (SLESO) and parameter adaptation law are constructed to compensate for the unmodeled uncertainties and parametric uncertainties, respectively. By using these mechanisms, the steady-state tracking performance can be guaranteed through uncertainty compensation. Additionally, the issue of conservativeness in the input saturation problem is effectively addressed through online-updating the available unsaturated region, which improves transient performance. The proposed scheme results in asymptotic stability when unmodeled uncertainties are constants and ultimate boundedness when unmodeled uncertainties are time-varying.Finally, simulation studies are presented to demonstrate the effectiveness of the proposed approach.

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“…In general, the effect of input saturation would be disastrous due to the nonlinearities and uncertainties of the plants [37]. Hence, when the input saturation is neglected in the control design, the proposed control schemes may be fail their goal.…”

Section: Introductionmentioning

confidence: 99%

Robust Adaptive Finite-Time Tracking Control for Uncertain Euler-Lagrange Systems With Input Saturation

et al. 2020

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In this paper, a robust adaptive finite-time (FT) tracking control scheme is proposed for Euler-Lagrange systems (ELSs) subject to nonparametric uncertainties, unknown disturbances and input saturation. In the design procedure, a Gaussian error function is utilized to approximate the input saturation nonlinearity. Following that, by employing the natural property that the upper bound of model parameters uncertainties is linear-in-parameters, the lumped uncertain term that caused by uncertain model parameters and external disturbances is formulated by a linear-parametric form with a single parameter. And then, a novel robust adaptive tracking control law is designed to resolve the tracking control problem of uncertain ELSs. The proposed control scheme is featured by FT convergence rate, and robustness against uncertainties and unknown disturbances. Furthermore, the robust adaptive FT tracking control scheme is insensitive to the character of the uncertainties, and is with low computational burden and easy to implement in engineering applications. And its rigorous stability is analyzed with the aid of the Lyapunov stability theory, and its effectiveness is verified by simulation results and comparison.

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Output feedback control of integrator systems with disturbance and input saturation

Cited by 8 publications

References 25 publications

Adaptive Nonlinear Control for the Stabilized Platform With Disturbance and Input Saturation

Adaptive Nonlinear Control for the Stabilized Platform With Disturbance and Input Saturation

Adaptive output feedback control of uncertain nonlinear systems with input saturation

Robust Adaptive Finite-Time Tracking Control for Uncertain Euler-Lagrange Systems With Input Saturation

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