Robust adaptive control for a class of nonlinear switched systems using state-dependent switching

Noghredani, Naeimadeen; Pariz, Naser

doi:10.1007/s42452-021-04244-w

Cited by 5 publications

(3 citation statements)

References 36 publications

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“…(2) The proposed control scheme restricts the tracking error to a predefined range by introducing an error transformation signal. It should be observed that the adaptive control schemes in References 39 and 40 can only guarantee the stability of the systems without taking into account the predefined performance that is further required by the systems. (3) Furthermore, compared with the time‐triggered schemes in 41 and, 42 we construct an event‐triggered controller, which can reduce the communication burden and improve the utilization of communication channel.…”

Section: Introductionmentioning

confidence: 99%

Adaptive asymptotic tracking control for nonlinear systems with actuator fault and prescribed performance based on event‐triggered mechanism

Jiang

Zhang

2023

Intl J Robust & Nonlinear

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In this article, the event-triggered adaptive neural networks tracking control problem for nonlinear systems with prescribed performance and actuator fault is investigated. Meanwhile, bias faults and loss of effectiveness in actuators are taken into consideration, and the effectiveness factor is unknown. In the process of controller design under the framework of backstepping technology, neural networks are implemented to model the unknown terms of systems, and the tracking error is limited to a predefined boundary by using an error transformation. To economize communication resources, an adaptive neural networks event-triggered control (ETC) strategy is developed, which can ensure that all the closed-loop signals are bounded, and the tracking error not only confines to a prescribed function but also asymptotically converges to zero. Finally, two simulation examples are presented to further confirm the effectiveness of the proposed control strategy.

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Section: Introductionmentioning

confidence: 99%

Adaptive asymptotic tracking control for nonlinear systems with actuator fault and prescribed performance based on event‐triggered mechanism

Jiang

Zhang

2023

Intl J Robust & Nonlinear

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“…Thus, the traditional linear control methods have become more and more difficult to satisfy the demand of modern hydraulic systems. To cope with these issues, dozens of advanced nonlinear controllers have been proposed, such as feedback linearization control [5][6][7], nonlinear adaptive control [8][9][10] and adaptive robust control [11][12][13].…”

Section: Introductionmentioning

confidence: 99%

Valve Deadzone/Backlash Compensation for Lifting Motion Control of Hydraulic Manipulators

Lin

Jiang

et al. 2021

Machines

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In this paper, a novel nonlinear model and high-precision lifting motion control method of a hydraulic manipulator driven by a proportional valve are presented, with consideration of severe system nonlinearities, various uncertainties as well as valve backlash/deadzone input nonlinearities. To accomplish this mission, based on the independent valve orifice throttling process, a new comprehensive pressure-flow model is proposed to uniformly indicate both the backlash and deadzone effects on the flow characteristics. Furthermore, in the manipulator lifting dynamics, considering mechanism nonlinearity and utilizing a smooth LuGre friction model to describe the friction dynamics, a nonlinear state-space mathematical model of hydraulic manipulation system is then established. To suppress the adverse effects of severe nonlinearities and uncertainties in the system, a high precision adaptive robust control method is proposed via backstepping, in which a projection-type adaptive law in combination with a robust feedback term is conducted to attenuate various uncertainties and disturbances. Lyapunov stability analysis demonstrates that the proposed control scheme can acquire transient and steady-state close-loop stability, and the excellent tracking performance of the designed control law is verified by comparative simulation results.

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“…Despite these challenges, switched systems have received increasing attentions, since such systems can be used to model various control problems and complex processes, such as neural network [5,6], microbial fermentation process [7,8], electronic circuit [9,10], and aircraft control [11,12]. More importantly, when an expected control performance of a complex model is difficult to be achieved by using only a single controller, switching control strategy could be a good choice, which can greatly improve stability and performance [13][14][15][16]. As a consequence, it is of practical importance and theoretical significance to investigate the switching stabilization of switched systems deeply.…”

mentioning

confidence: 99%

State‐dependent switching stabilization of third‐order switched linear systems consisting of two subsystems with fully positive real part characteristic roots

Yuan

Zhou

2023

Math Methods in App Sciences

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In the present work, we investigate the stability problem for a third‐order switched linear system in which the eigenvalues of each subsystem are all positive real parts. Firstly, we introduce a degenerated linear mechanical model with two state variables, in which one of the mechanical equations degenerates to a nonholonomic constraint, thereby such a mode being treated as a mechanical system with 1.5‐degrees of freedom (DOFs). Secondly, we establish the corresponding relationship between the mechanical system with 1.5‐DOFs and a standard third‐order linear system so as to define an energy function with actual physical meaning. Thirdly, an invertible transformation is introduced to convert a general third‐order linear system to a standard one so as to calculate energy function easily. On this basis, we reasonably introduce an intermediate subsystem for a general third‐order switched linear system with two unstable subsystems, such that each subsystem and the intermediate subsystem can be converted to standard third‐order linear systems simultaneously via an identical invertible transformation. Accordingly, we construct an energy ratio function with the help of the energy functions of the intermediate subsystem and two subsystems. Fourthly, based on the obtained energy ratio function, a proper state‐dependent switching law is designed to guarantee asymptotic stability of switched systems. That is, the energy loss from switching is large enough to offset the energy increased from unstable subsystems operation in a switching loop. Finally, simulation results demonstrate the effectiveness of the proposed state‐dependent switching approach.

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Robust adaptive control for a class of nonlinear switched systems using state-dependent switching

Cited by 5 publications

References 36 publications

Adaptive asymptotic tracking control for nonlinear systems with actuator fault and prescribed performance based on event‐triggered mechanism

Adaptive asymptotic tracking control for nonlinear systems with actuator fault and prescribed performance based on event‐triggered mechanism

Valve Deadzone/Backlash Compensation for Lifting Motion Control of Hydraulic Manipulators

State‐dependent switching stabilization of third‐order switched linear systems consisting of two subsystems with fully positive real part characteristic roots

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