33 research outputs found
Composite Learning Control With Application to Inverted Pendulums
Composite adaptive control (CAC) that integrates direct and indirect adaptive
control techniques can achieve smaller tracking errors and faster parameter
convergence compared with direct and indirect adaptive control techniques.
However, the condition of persistent excitation (PE) still has to be satisfied
to guarantee parameter convergence in CAC. This paper proposes a novel model
reference composite learning control (MRCLC) strategy for a class of affine
nonlinear systems with parametric uncertainties to guarantee parameter
convergence without the PE condition. In the composite learning, an integral
during a moving-time window is utilized to construct a prediction error, a
linear filter is applied to alleviate the derivation of plant states, and both
the tracking error and the prediction error are applied to update parametric
estimates. It is proven that the closed-loop system achieves global
exponential-like stability under interval excitation rather than PE of
regression functions. The effectiveness of the proposed MRCLC has been verified
by the application to an inverted pendulum control problem.Comment: 5 pages, 6 figures, conference submissio
Adaptive Command-Filtered Backstepping Control for Linear Induction Motor via Projection Algorithm
A theoretical framework of the position control for linear induction motors (LIM) has been proposed. First, indirect field-oriented control of LIM is described. Then, the backstepping approach is used to ensure the convergence and robustness of the proposed control scheme against the external time-varying disturbances via Lyapunov stability theory. At the same time, in order to solve the differential expansion and the control saturation problems in the traditional backstepping, command filter is designed in the control and compensating signals are presented to eliminate the influence of the errors caused by command filters. Next, unknown total mass of the mover, viscous friction, and load disturbances are estimated by the projection-based adaptive law which bounds the estimated function and simultaneously guarantees the robustness of the proposed controller against the parameter uncertainties. Finally, simulation results are given to illustrate the validity and potential of the designed control scheme
Globally Intelligent Adaptive Finite-/Fixed- Time Tracking Control for Strict-Feedback Nonlinear Systems via Composite Learning Approaches
This article focuses on the globally composite adaptive law-based intelligent
finite-/fixed- time (FnT/FxT) tracking control issue for a family of uncertain
strict-feedback nonlinear systems. First, intelligent approximators with new
composite updating laws are developed to model uncertain nonlinear terms, which
encompass prediction errors to enhance intelligent approximators' learning
behaviors and fewer online learning parameters to diminish computational
burden. Then, a novel smooth switching function coupled with robust controllers
is designed to pull system states back when the transients are out of the
approximators' active domain. After that, a modified FnT/FxT backstepping
technique is constructed to render output to follow the reference trajectory,
and an adaptive law is employed to alleviate the impact of external
disturbances. It is theoretically confirmed that the proposed control
strategies ensure globally FnT/FxT boundedness of all the closed-loop
variables. Finally, the validity of theoretical results is testified via a
simulation case.Comment: 6 pages,12 figure
Parallel navigation for 3-D autonomous vehicles
summary:In this paper, parallel navigation is proposed to track the target in three-dimensional space. Firstly, the polar kinematics models for the vehicle and the target are established. Secondly, parallel navigation is derived by using polar kinematics models. Thirdly, cell decomposition method is applied to implement obstacle avoidance. Fourthly, a brief study is given on the influence of uncertainties. Finally, simulations are conducted by MATLAB. Simulation results demonstrate the effectiveness of the parallel navigation
Real-time backstepping control for fuel cell vehicle using supercapacitors
A key issue of real-time applications is ensuring the operation by taking into account the stability constraints. For multisource vehicles, stability is impacted by the multisource interactions. Backstepping control ensures stable control for most classes of nonlinear systems. Nevertheless, no backstepping control in real time has been yet proposed for multisource vehicles. The objective of this paper is to apply the backstepping control to a multisource vehicle with fuel cell and supercapacitors for real-time implementation. A distribution criterion is used to allocate energy between sources. Experimental results demonstrate that the developed backstepping control can be implemented in real-time conditions. The supercapacitors can thus help the fuel cell to meet the requirements of the load with a guarantee of system stability. © 1967-2012 IEEE
Composite learning adaptive backstepping control using neural networks with compact supports
© 2019 John Wiley & Sons, Ltd. The ability to learn is crucial for neural network (NN) control as it is able to enhance the overall stability and robustness of control systems. In this study, a composite learning control strategy is proposed for a class of strict-feedback nonlinear systems with mismatched uncertainties, where raised-cosine radial basis function NNs with compact supports are applied to approximate system uncertainties. Both online historical data and instantaneous data are utilized to update NN weights. Practical exponential stability of the closed-loop system is established under a weak excitation condition termed interval excitation. The proposed approach ensures fast parameter convergence, implying an exact estimation of plant uncertainties, without the trajectory of NN inputs being recurrent and the time derivation of plant states. The raised-cosine radial basis function NNs applied not only reduces computational cost but also facilitates the exact determination of a subregressor activated along any trajectory of NN inputs so that the interval excitation condition is verifiable. Numerical results have verified validity and superiority of the proposed approach
Neural networks-based command filtering control for a table-mount experimental helicopter
This paper presents neural networks based on command filtering control method for a table-mount experimental helicopter which has three rotational degrees-of-freedom. First, the controller is designed based on backstepping technique, and further command filtering technique is used to solve the derivative of the virtual control, thereby avoiding the effects of signal noise. Secondly, the model uncertainty of the table-mount experimental helicopter's system is estimated by using neural networks. And then, Lyapunov stabilization analysis proves the stability of the table-mount experimental helicopter closedloop attitude tracking system. Finally, the experiment is carried out to clarify the effectiveness of the proposed method. (C) 2020 The Franklin Institute. Published by Elsevier Ltd. All rights reserved
Tracking differentiator based back-stepping control for valve-controlled hydraulic actuator system
Back-stepping design method is widely used in high-performance tracking control tasks As is known to all, the controller based on back-stepping design will become complex as the model order increases, which is the so called “explosion of terms” problem. In this paper, a tracking differentiator (TD) based back-stepping controller is proposed to handle the “explosion of terms” problem. Instead of calculating the derivatives of intermediate control variables through tedious analytical expressions, for the proposed method, the tracking differentiator is embedded into each recursive procedure to generate the substitute derivative signal for every intermediate control variable. As a result, the complexity of implementation procedure of back-stepping controller is significantly reduced. The discrepancies between the derivative substitutes and the real derivatives are considered. And the effects on control performances caused by the discrepancies are analyzed. In addition to giving the theoretical results and the stability proofs with Lyapunov methods, the developed controller design method is evaluated through a series of experiments with a hydraulic robot arm position serve system. The control performance of the proposed controller is verified by the experiments results.</p
Composite learning backstepping control with guaranteed exponential stability and robustness
Adaptive backstepping control provides a feasible solution to achieve
asymptotic tracking for mismatched uncertain nonlinear systems. However,
input-to-state stability depends on high-gain feedback generated by nonlinear
damping terms, and closed-loop exponential stability with parameter convergence
involves a stringent condition named persistent excitation (PE). This paper
proposes a composite learning backstepping control (CLBC) strategy based on
modular backstepping and high-order tuners to compensate for the transient
process of parameter estimation and achieve closed-loop exponential stability
without the nonlinear damping terms and the PE condition. A novel composite
learning mechanism that maximizes the staged exciting strength is designed for
parameter estimation, such that parameter convergence can be achieved under a
condition of interval excitation (IE) or even partial IE that is strictly
weaker than PE. An extra prediction error is employed in the adaptive law to
ensure the transient performance without nonlinear damping terms. The
exponential stability of the closed-loop system is proved rigorously under the
partial IE or IE condition. Simulations have demonstrated the effectiveness and
superiority of the proposed method in both parameter estimation and control
compared to state-of-the-art methods