Stability analysis and design of integrating unstable delay processes using the mirror-mapping technique

Zhang, Guoqing; Zhang, Xianku; Guan, Wei

doi:10.1016/j.jprocont.2014.05.004

Cited by 21 publications

(16 citation statements)

References 12 publications

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“…One can obtain

V (t) \leq \frac{σ}{2 a} + ((), V (0) - \frac{σ}{2 a}) \exp (- 2 at)

by integration of . According to the closed‐loop gain shaping algorithm and , V ( t ) is bounded by

\lim_{t \to \infty} V (t) = \frac{σ}{2 a}

. In addition, Assumption is satisfied.…”

Section: Resultsmentioning

confidence: 99%

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Practical Robust Neural Path Following Control for Underactuated Marine Vessels with Actuators Uncertainties

Zhang

2016

Asian Journal of Control

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This note tackles the problem of path‐following control for underactuated ships with actuators uncertainties and unknown environmental disturbances. A novel dynamical virtual ship (DVS) guidance principle is initially developed to deal with the assumption that “the reference path could be generated by a virtual ship”, which is normal but not workable in the current literature. In addition, a practical robust control scheme is proposed using feedforward approximation, dynamic surface control, and robust neural damping techniques. In the algorithm, the strong couplings among state variables, underactuated characteristic and the actuators uncertainties are considered to guarantee semiglobal uniform ultimate boundedness of the closed‐loop system. The outstanding advantages are that the control law has a concise form and is easy to implement in practice.The control inputs of interest are two actuator‐steerable variables: the main engine speed and the rudder angle. Although the uncertainties are compensated by NNs, no adaptive parameters are derived for merits of the robust neural damping technique. Finally, the experiment has demonstrated the effectiveness of the proposed scheme, comparing with the LOS self‐tuning fuzzy control.

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“…One can obtain

V (t) \leq \frac{σ}{2 a} + ((), V (0) - \frac{σ}{2 a}) \exp (- 2 at)

by integration of . According to the closed‐loop gain shaping algorithm and , V ( t ) is bounded by

\lim_{t \to \infty} V (t) = \frac{σ}{2 a}

. In addition, Assumption is satisfied.…”

Section: Resultsmentioning

confidence: 99%

“…exp (−2at) by integration of (41). According to the closed-loop gain shaping algorithm [22] and [38], V (t) is bounded by lim t→∞ V (t) = 2a .…”

Section: Theorem 1 Under Assumptions 1-3 One Considers the Underactmentioning

confidence: 99%

Practical Robust Neural Path Following Control for Underactuated Marine Vessels with Actuators Uncertainties

Zhang

2016

Asian Journal of Control

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“…The result follows from Proposition 3.2. Substituting σ d ¼ σ into (36), and solving for k i lead to (46). Eqs.…”

Section: Tuningmentioning

confidence: 99%

“…measures the smoothness of the control signal, see [36]. Here, u½n ¼ uðnTÞ is the sampled control signal and N is the total number of samples.…”

Section: Experimental Comparative Studymentioning

confidence: 99%

Velocity control of servo systems using an integral retarded algorithm

2015

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“…A few modified SP control methods have been recently developed to improve control performance for integrating and unstable processes [19][20][21][22][23][24][25][26][27][28][29][30][31][32][33][34] . In the recent papers 35,36 , a generalized predictor (GP) structure was developed to control stable, integrating or unstable processes with long time delay.…”

Section: Introductionmentioning

confidence: 99%

Analytical design of a generalised predictor‐based control scheme for low‐order integrating and unstable systems with long time delay

Chen

Liu

Garcia

et al. 2016

IET Control Theory & Applications

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Stability analysis and design of integrating unstable delay processes using the mirror-mapping technique

Cited by 21 publications

References 12 publications

Practical Robust Neural Path Following Control for Underactuated Marine Vessels with Actuators Uncertainties

Practical Robust Neural Path Following Control for Underactuated Marine Vessels with Actuators Uncertainties

Velocity control of servo systems using an integral retarded algorithm

Analytical design of a generalised predictor‐based control scheme for low‐order integrating and unstable systems with long time delay

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