19,521 research outputs found
High-gain adaptive λ-[lambda]-tracking for nonlinear systems
It is shown that a simple modification (introducing a dead zone in the adaptation law) of the known adaptive high-gain control strategy u(t) = -k(t)y(t), k(t) = ||y(t)||2 yields lambda-tracking in the presence of output corrupted noise for a large class of reference signals and a large class of multivariable nonlinear minimum-phase systems of relative degree one. These results are applied to a realistic chemical reactor, showing the practical usefulness of these control laws
Robustness of λ-tracking and funnel control in the gap metric
PublishedCopyright © 2009 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on 15-18 December 2009For m-input, m-output, finite-dimensional, linear systems satisfying the classical assumptions of adaptive control (i.e., (i) minimum phase, (ii) relative degree one and (iii) positive definite high-frequency gain matrix), two control strategies are considered: the well-known λ-tracking and funnel control. An application of the λ-tracker to systems satisfying (i)–(iii) yields that all states of the closed-loop system are bounded and |e| is ultimately bounded by some prespecified λ > 0. An application of the funnel controller achieves tracking of the error e within a prescribed performance funnel if applied to linear systems satisfying (i)–(iii). Moreover, all states of the closed-loop system are bounded. The funnel boundary can be chosen from a large set of functions. Invoking the conceptual framework of the nonlinear gap metric, we show that the λ-tracker and the funnel controller are robust. In the present setup this means in particular that λ-tracking and funnel control copes with bounded input and output disturbances and, more importantly, may be applied to any system which is “close” (in terms of a “small” gap) to a system satisfying (i)–(iii), and which may not satisfy any of the classical conditions (i)–(iii), as long as the initial conditions and the disturbances are “small”
Adaptive Discrete Second Order Sliding Mode Control with Application to Nonlinear Automotive Systems
Sliding mode control (SMC) is a robust and computationally efficient
model-based controller design technique for highly nonlinear systems, in the
presence of model and external uncertainties. However, the implementation of
the conventional continuous-time SMC on digital computers is limited, due to
the imprecisions caused by data sampling and quantization, and the chattering
phenomena, which results in high frequency oscillations. One effective solution
to minimize the effects of data sampling and quantization imprecisions is the
use of higher order sliding modes. To this end, in this paper, a new
formulation of an adaptive second order discrete sliding mode control (DSMC) is
presented for a general class of multi-input multi-output (MIMO) uncertain
nonlinear systems. Based on a Lyapunov stability argument and by invoking the
new Invariance Principle, not only the asymptotic stability of the controller
is guaranteed, but also the adaptation law is derived to remove the
uncertainties within the nonlinear plant dynamics. The proposed adaptive
tracking controller is designed and tested in real-time for a highly nonlinear
control problem in spark ignition combustion engine during transient operating
conditions. The simulation and real-time processor-in-the-loop (PIL) test
results show that the second order single-input single-output (SISO) DSMC can
improve the tracking performances up to 90%, compared to a first order SISO
DSMC under sampling and quantization imprecisions, in the presence of modeling
uncertainties. Moreover, it is observed that by converting the engine SISO
controllers to a MIMO structure, the overall controller performance can be
enhanced by 25%, compared to the SISO second order DSMC, because of the
dynamics coupling consideration within the MIMO DSMC formulation.Comment: 12 pages, 7 figures, 1 tabl
A survey on fractional order control techniques for unmanned aerial and ground vehicles
In recent years, numerous applications of science and engineering for modeling and control of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) systems based on fractional calculus have been realized. The extra fractional order derivative terms allow to optimizing the performance of the systems. The review presented in this paper focuses on the control problems of the UAVs and UGVs that have been addressed by the fractional order techniques over the last decade
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