10,084 research outputs found
Adaptive Fuzzy Tracking Control for Nonlinear State Constrained Pure-Feedback Systems With Input Delay via Dynamic Surface Technique
This brief constructs the adaptive backstepping control scheme for a class of
pure-feedback systems with input delay and full state constraints. With the
help of Mean Value Theorem, the pure-feedback system is transformed into
strict-feedback one. Barrier Lyapunov functions are employed to guarantee all
of the states remain constrained within predefined sets. By introducing the
Pade approximation method and corresponding intermediate, the impact generated
by input delay on the output tracking performance of the system can be
eliminated. Furthermore, a low-pass filter driven by a newly-defined control
input, is employed to generate the actual control input, which facilitates the
design of backstepping control. To approximate the unknown functions with a
desired level of accuracy, the fuzzy logic systems (FLSs) are utilized by
choosing appropriate fuzzy rules, logics and so on. The minimal learning
parameter (MLP) technique is employed to decrease the number of nodes and
parameters in FLSs, and dynamic surface control (DSC) technique is leveraged to
avoid so-called "explosion of complexity". Moreover, smooth robust compensators
are introduced to circumvent the influences of external disturbance and
approximation errors. By stability analysis, it is proved that all of signals
in the closed-loop system are semi-globally ultimately uniform bounded, and the
tracking error can be within a arbitrary small neighbor of origin via selecting
appropriate parameters of controllers. Finally, the results of numerical
illustration are provided to demonstrate the effectiveness of the designed
method.Comment: arXiv admin note: text overlap with arXiv:2310.1540
A brief review of neural networks based learning and control and their applications for robots
As an imitation of the biological nervous systems, neural networks (NN), which are characterized with powerful learning ability, have been employed in a wide range of applications, such as control of complex nonlinear systems, optimization, system identification and patterns recognition etc. This article aims to bring a brief review of the state-of-art NN for the complex nonlinear systems. Recent progresses of NNs in both theoretical developments and practical applications are investigated and surveyed. Specifically, NN based robot learning and control applications were further reviewed, including NN based robot manipulator control, NN based human robot interaction and NN based behavior recognition and generation
Finite-Time Adaptive Fuzzy Tracking Control for Nonlinear State Constrained Pure-Feedback Systems
This paper investigates the finite-time adaptive fuzzy tracking control
problem for a class of pure-feedback system with full-state constraints. With
the help of Mean-Value Theorem, the pure-feedback nonlinear system is
transformed into strict-feedback case. By employing finite-time-stable like
function and state transformation for output tracking error, the output
tracking error converges to a predefined set in a fixed finite interval. To
tackle the problem of state constraints, integral Barrier Lyapunov functions
are utilized to guarantee that the state variables remain within the prescribed
constraints with feasibility check. Fuzzy logic systems are utilized to
approximate the unknown nonlinear functions. In addition, all the signals in
the closed-loop system are guaranteed to be semi-global ultimately uniformly
bounded. Finally, two simulation examples are given to show the effectiveness
of the proposed control strategy
Unknown dynamics estimator-based output-feedback control for nonlinear pure-feedback systems
Most existing adaptive control designs for nonlinear pure-feedback systems have been derived based on backstepping or dynamic surface control (DSC) methods, requiring full system states to be measurable. The neural networks (NNs) or fuzzy logic systems (FLSs) used to accommodate uncertainties also impose demanding computational cost and sluggish convergence. To address these issues, this paper proposes a new output-feedback control for uncertain pure-feedback systems without using backstepping and function approximator. A coordinate transform is first used to represent the pure-feedback system in a canonical form to evade using the backstepping or DSC scheme. Then the Levant's differentiator is used to reconstruct the unknown states of the derived canonical system. Finally, a new unknown system dynamics estimator with only one tuning parameter is developed to compensate for the lumped unknown dynamics in the feedback control. This leads to an alternative, simple approximation-free control method for pure-feedback systems, where only the system output needs to be measured. The stability of the closed-loop control system, including the unknown dynamics estimator and the feedback control is proved. Comparative simulations and experiments based on a PMSM test-rig are carried out to test and validate the effectiveness of the proposed method
Nonlinear Dynamic Surface Control of Chaos in Permanent Magnet Synchronous Motor Based on the Minimum Weights of RBF Neural Network
This paper is concerned with the problem of the nonlinear dynamic surface control (DSC) of chaos based on the minimum weights of RBF neural network for the permanent magnet synchronous motor system (PMSM) wherein the unknown parameters, disturbances, and chaos are presented. RBF neural network is used to approximate the nonlinearities and an adaptive law is employed to estimate unknown parameters. Then, a simple and effective controller is designed by introducing dynamic surface control technique on the basis of first-order filters. Asymptotically tracking stability in the sense of uniformly ultimate boundedness is achieved in a short time. Finally, the performance of the proposed controller is testified through simulation results
- …