Robust Output Regulation in Discrete-Time Singular Systems With Actuator Saturation and Uncertainties

Jafari, E.; Binazadeh, Tahereh

doi:10.1109/tcsii.2019.2908500

Cited by 26 publications

(14 citation statements)

References 19 publications

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“…which means that inequality Equation ( 43) holds, " ||x(k)|| ø e 2 . Hence, considering Lemma 1 in Jafari and Binazadeh (2020), if the SSs are greater than the band defined by Equation ( 44), then they will converge into this band. As every term in e 2 is bounded, we can infer that e 2 is also bounded.…”

Section: Numerical Simulationsmentioning

confidence: 99%

Disturbance estimator-based switching function for discrete-time sliding mode control systems with control saturation

Xiong

et al. 2021

Transactions of the Institute of Measurement and Control

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In this paper, a new disturbance estimator-based switching function (SF) is presented dedicated to discrete-time sliding mode control (DSMC) systems with disturbances and control saturation (CS). This SF is featured by an ( n+1)th-order disturbance estimator, which utilizes n+1 past disturbance terms to attain accurate disturbance rejection. Moreover, an auxiliary state is integrated into the SF to address the CS problem. One uniqueness of the developed method is that it is capable of achieving the ideal quasi-sliding mode and produces a zero-convergence error of the SF under the influence of disturbances and CS, which is rarely realized in DSMC methods. In addition, system states dynamics is rigorously analysed adopting the Lyapunov technique. The feasibility and virtue of the designed results are verified by a numerical example.

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Section: Numerical Simulationsmentioning

confidence: 99%

Disturbance estimator-based switching function for discrete-time sliding mode control systems with control saturation

Xiong

et al. 2021

Transactions of the Institute of Measurement and Control

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“…The saturation of control input is usually required due to physical limitation of actuators, and it can make plants more stable and prevent unexpected outputs [7], e.g., attitude control of quadrotor model [8], robust output regulation of singular system [9], saturated PI control of direct current buck power converters [10], saturated PID control of joint motion for robots [11], [12]. For the nonlinear system, the input into it may usually result in unexpected overshoot due to the tuning of parameters K p , K i , which may exert instability to the entire closed-loop control system [13].…”

Section: Introductionmentioning

confidence: 99%

Saturated PI Control for Nonlinear System With Provable Convergence: An Optimization Perspective

Zhan

2021

IEEE Trans. Circuits Syst. II

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The saturated PI (proportional-integral) based method is widely applied in nonlinear system control fields. It can be regarded as a black-box type approach which utilizes the system output's tracking error and its integral information, with the saturated control input. However, as details of the plants may not be necessary to investigate, the saturated PI control methods has to empirically tune the proportional and integral parameters to guarantee reliable convergence, making its convergence mechanism can not be generally interpreted. In this brief, for the first time, the convergence of the saturated PI control scheme is proved through the optimization solver based on a primal dual neural network. Illustrate examples including control of an inverted-pendulum mobile vehicle and a manipulator demonstrate the efficiency of the saturated PI control methods based on the proposed optimization formulation.

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“…Jafari and Binazadeh 12 proposed an observer-based improved CNF controller for output tracking of general time-varying reference signals in descriptor systems subject to actuator saturation. Jafari and Binazadeh 13 studied the robust output regulation in discrete-time singular systems with actuator saturation and matched uncertainties. The main contribution of this communication lies in designing the CNF control law for uncertain discrete-time singular systems with actuator saturation which guarantees the output regulation against system uncertainties and/or external disturbances.…”

Section: Introductionmentioning

confidence: 99%

Robust composite nonlinear feedback control for uncertain robot manipulators

Jiang

Lü

Gong

et al. 2020

International Journal of Advanced Robotic Systems

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On the basis of the classical computed torque control method, a new composite nonlinear feedback design method for robot manipulators with uncertainty is presented. The resulting controller consists of the composite nonlinear feedback control and robust control. The core is to use the robust control for online approximation of the system’s uncertainty as a compensation term for the composite nonlinear feedback controller. The design method of the new controller is given, and the convergence of the closed-loop system is proved. The simulation results show that the proposed scheme can make the uncertain robot system have strong robustness and anti-interference ability.

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Robust Output Regulation in Discrete-Time Singular Systems With Actuator Saturation and Uncertainties

Cited by 26 publications

References 19 publications

Disturbance estimator-based switching function for discrete-time sliding mode control systems with control saturation

Disturbance estimator-based switching function for discrete-time sliding mode control systems with control saturation

Saturated PI Control for Nonlinear System With Provable Convergence: An Optimization Perspective

Robust composite nonlinear feedback control for uncertain robot manipulators

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