Robust asymptotic tracking control of a chain of integrator nonlinear systems with input constraint and hysteresis nonlinearity

Dong, Zhenle; Yao, Jianyong; Ma, Dawei

doi:10.1177/0142331215596565

Cited by 9 publications

(8 citation statements)

References 26 publications

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“…where k s2 is the positive design parameter; and u 1 ,û 2 andû 3 denote the adaptive estimations of uncertain parameters u 1 , u 2 and u 3 . Substituting equation (14) into equation 13, we have…”

Section: Controller Designmentioning

confidence: 99%

Motion control of valve-controlled hydraulic actuators with input saturation and modelling uncertainties

Dong

Liu

et al. 2018

Advances in Mechanical Engineering

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This article mainly concerns the high-performance motion control of valve-controlled hydraulic actuators with input saturation and modelling uncertainties. The nonlinear mathematic model including a continuously differentiable static friction model is constructed, and then adaptive robust design framework is adopted to cope with the modelling uncertainties, which always impede the progress of high-performance motion controller. Input saturation, which frequently exists in most physical systems, has been found to be prone to performance decay. To address this specific issue, an embedded anti-windup block containing two adjusting mechanisms is properly designed to improve the motion controller to ensure the stability and performance preservation in circumstance of input saturation, which is proved via rigorous Lyapunov analysis. Typical simulation is implemented to illustrate the availability of the proposed control method.

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Section: Controller Designmentioning

confidence: 99%

Motion control of valve-controlled hydraulic actuators with input saturation and modelling uncertainties

Dong

Liu

et al. 2018

Advances in Mechanical Engineering

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“…All these techniques have achieved widespread use and it is worth noting that the essence of them lies in the treatment of modeling uncertainties. For example, RISE controller employs a continuously robust integral component to handle the uncertainties and realize asymptotic tracking [18], [19]. Observer-based controller usually require estimating the disturbance and compensating it in The associate editor coordinating the review of this manuscript and approving it for publication was Shiping Wen .…”

Section: Introductionmentioning

confidence: 99%

“…In this paper, a novel asymptotic controller integrating barrier function-based backstepping design [25] and nonlinear control technique proposed in [29] is presented. Although some existing controller, such as SMC [1] and RISE control [14], [18], [19], [30], can also obtain the asymptotic tracking, the former may produce control input with chattering which may arouse the unmodeled dynamic to deteriorate the control performance, and the latter is more suitable for integral series systems due to its special controller structure. While the technique employed in this research has significant advantages in that not only it is very convenient to be integrated with other control structure, but also the final control input is continuous and smooth.…”

Section: Introductionmentioning

confidence: 99%

Barrier Function-Based Asymptotic Tracking Control of Uncertain Nonlinear Systems With Multiple States Constraints

Dong

Yao

2020

IEEE Access

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This technical note focus on the tracking control problem of uncertain nonlinear systems with multiple states constraints. Based on the Barrier Lyapunov function and backstepping technology, a new continuous smooth control solution can be ultimately synthesized to realize asymptotic tracking control in presence of multiple states constraints and modeling uncertainties. Firstly, the modeling uncertainties are divided into periodic and un-periodic components and Fourier expansion technology is employed to translate the periodic disturbance into the form which can be easily compensated. Then the Barrier Lyapunov function are flexibly utilized to design the virtual control law of every step and the final controller, which can guarantee the specified states within certain bounds regardless of the amplitude of system output. Meanwhile, a novel nonlinear control technology is introduced to each design step to realize the final asymptotic tracking control despite the matched and mismatched uncertainties. By analyzing the choice of the control parameters, the backstepping cross-term is skillfully dealt with and the stability of the whole system is proved rigorously. Finally, the simulation results on a three-order nonlinear hydraulic system demonstrate the satisfactory performance of the proposed control method.

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“…To deal with the nonlinearities in the plant, a universal function approximator was adopted for compensation of the plant nonlinearities, where the parameters of the approximator were obtained using a Lyapunov-based design (Nordin et al, 2001). Dong et al (2016b) and Wu and Yao (2017) proposed robust asymptotic tracking control and a Lyapunov function-based adaptive scheme for dealing with backlash and unknown dead zone nonlinearities in the input and output.…”

Section: Introductionmentioning

confidence: 99%

An adaptive robust control scheme for robot manipulators with unknown backlash nonlinearity in gears

Abhari

Hashemzadeh

Baradarannia

et al. 2018

Transactions of the Institute of Measurement and Control

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This paper presents an adaptive robust control algorithm for the nonlinear dynamics of robot manipulators with unknown backlash in gears. The basic nonlinear model of a serial manipulator robot is used for the controller design, and this is combined with the nonlinear proposed dead zone model, based on the input and output torque. The main idea of providing this model is to achieve a dynamic model of the system considering the backlash of the robot joint gears, and having less complexity such that the developed controller does not need the inverse backlash model. The adaptive robust controller is developed, without using the inverse backlash model. The proposed controller is designed based on an unknown dead zone parameter and it guarantees the stability and path tracking of the robot trajectory with unknown dead zone parameter in the desired range. Numerical simulations are conducted to show the effectiveness of the proposed controller. Finally, the efficiency and capability of the proposed controller in dealing with the unknown backlash nonlinearities in gears of the manipulator are demonstrated by experimental results with a five-bar manipulator.

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Robust asymptotic tracking control of a chain of integrator nonlinear systems with input constraint and hysteresis nonlinearity

Cited by 9 publications

References 26 publications

Motion control of valve-controlled hydraulic actuators with input saturation and modelling uncertainties

Motion control of valve-controlled hydraulic actuators with input saturation and modelling uncertainties

Barrier Function-Based Asymptotic Tracking Control of Uncertain Nonlinear Systems With Multiple States Constraints

An adaptive robust control scheme for robot manipulators with unknown backlash nonlinearity in gears

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