Wavelet based adaptive backstepping controller for a class of nonregular systems with input constraints

Kulkarni, Ajay; Purwar, Shubhi

doi:10.1016/j.eswa.2008.08.070

Cited by 29 publications

(15 citation statements)

References 21 publications

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“…For example, [3] and [4] investigated the method of approximation input-output linearization. However, as [5] pointed out, because of the approximation error generated by the neglected/modified terms, approximation input-output linearization may not work well. To enhance the tracking performance, literature [6] provided an idea of switching between approximation input-output linearization and exact input-output linearization.…”

Section: Introductionmentioning

confidence: 97%

Theory and Substantiation of z0g1 Controller Conquering Singularity Problem of Output Tracking for a Class of Nonlinear System

Zhang

Wang

Yin

et al. 2014

2014 IEEE 17th International Conference on Computational Science and Engineering

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The conventional controller for output tracking of a class of nonlinear system is not valid when encountering the singularity (i.e., division-by-zero) problem. To conquer the singularity problem, Zhang et al. have proposed a simple yet effective controller design method, i.e., aiding the conventional controller with gradient dynamics (GD), yielding a z0g1 controller in the framework of Zhang-gradient (ZG) method. As an indepth research, this paper provides the theory and proof on the performance of this z0g1 controller, which is exploited to conquer the singularity problem while fulfilling the trackingcontrol task. Besides, simulations and experiments substantiate and complement the theoretical analyses of such a z0g1 controller.

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Section: Introductionmentioning

confidence: 97%

Theory and Substantiation of z0g1 Controller Conquering Singularity Problem of Output Tracking for a Class of Nonlinear System

Zhang

Wang

Yin

et al. 2014

2014 IEEE 17th International Conference on Computational Science and Engineering

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“…Hence, the problem of actuator saturation is another critical issue that must be tackled during attitude control design due to the fact that spacecraft attitude is almost open-loop unstable. Although there are many relative works on the input constraints problem (see, for example, [19][20][21][22][23][24][25] and references therein), these design approaches will be invalid when the actuators experiences faults or failure. Hence, it is necessary to develop a new control scheme to treat actuator faults and input constraint simultaneously during various attitude maneuvers.…”

Section: Introductionmentioning

confidence: 99%

Fault-tolerant sliding mode attitude control for flexible spacecraft under loss of actuator effectiveness

Xiao

2010

Nonlinear Dyn

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In this paper, a novel fault-tolerant attitude control synthesis is carried out for a flexible spacecraft subject to actuator faults and uncertain inertia parameters. Based on the sliding mode control, a faulttolerant control law for the attitude stabilization is first derived to protect against the partial loss of actuator effectiveness. Then the result is extended to address the problem that the actual output of the actuators is constrained. It is shown that the presented controller can accommodate the actuator faults, even while rejecting external disturbances. Moreover, the developed control law can rigorously enforce actuator-magnitude constraints. An additional advantage of the proposed fault-tolerant control strategy is that the control design does not require a fault detection and isolation mechanism to detect, separate, and identify the actuator faults on-line; the knowledge of certain bounds on the effectiveness factors of the actuator is not used via the adaptive estimate method. The associated stability proof is constructive and accomplished by the development of the Lyapunov function candidate, which shows that the attitude orientation and angular velocity will globally asymptotically converge to zero. Numerical simulation results are also presented which not only highlight the ensured closed-loop performance benefits from the control law derived here, but also illustrate its superior fault tolerance and robustness in the face of external disturbances when compared with the conventional approaches for spacecraft attitude stabilization control.

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“…Recently, a number of researches have been done on the applications of wavelet neural networks (WNNs) which combine the learning ability of NNs and the capability of wavelet decomposition [11][12][13][14][15][16][17]. Unlike the sigmoidal functions used in conventional NNs, wavelet functions are spatially localized, so that the learning capability of WNN is more efficient than the conventional sigmoidal function NN for system identification and control.…”

Section: Introductionmentioning

confidence: 99%

“…Thus, WNN has been proved to be better than the other NNs in that the structure can provide more potential to enrich the mapping relationship between inputs and outputs [11]. As a result, there has been considerable interest in exploring the applications of WNN to deal with nonlinearity and uncertainties of control systems [14][15][16][17].…”

Section: Introductionmentioning

confidence: 99%

“…However, the major drawback of the aforementioned NN-based (or WNN-based) control systems is that their application domain is limited to the single-input-singleoutput (SISO) control systems [2][3][4][5][6][7][8][9][14][15][16][17]. A number of works can be found for nonlinear multi-input-multi-output (MIMO) systems based on adaptive NN (or WNN) control techniques [18][19][20][21][22].…”

Section: Introductionmentioning

confidence: 99%

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Wavelet-based adaptive robust control for a class of MIMO uncertain nonlinear systems

Chen

2010

Neural Comput & Applic

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In this study, a wavelet neural network (WNN)-based adaptive robust control (WARC) strategy is investigated to resolve the tracking control problem of a class of multi-input multi-output (MIMO) uncertain nonlinear systems. The proposed control system comprises of an adaptive wavelet controller and a robust controller. The adaptive wavelet controller acts as the main tracking controller, which is designed via a WNN to mimic the merits of a feedback linearization control (FLC) law. The proportional-integral (PI) adaptation laws of the MIMO control system are derived from the Lyapunov stability theorem, which are utilized to update the adjustable parameters of WNN on-line for further assuring system stability and obtaining a fast convergence. Moreover, based on H ? control technique, the robust controller is developed to attenuate the effect of the approximation error caused by WNN approximator, so that the desired tracking performance can be achieved. Finally, two MIMO uncertain nonlinear systems, the ecological system and the unified chaotic system, are performed to verify the effectiveness and robustness of the proposed WARC strategy. Furthermore, the salient merits are also indicated in comparison with the FLC system.

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Wavelet based adaptive backstepping controller for a class of nonregular systems with input constraints

Cited by 29 publications

References 21 publications

Theory and Substantiation of z0g1 Controller Conquering Singularity Problem of Output Tracking for a Class of Nonlinear System

Theory and Substantiation of z0g1 Controller Conquering Singularity Problem of Output Tracking for a Class of Nonlinear System

Fault-tolerant sliding mode attitude control for flexible spacecraft under loss of actuator effectiveness

Wavelet-based adaptive robust control for a class of MIMO uncertain nonlinear systems

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