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adaptive robust output-feedback boundary control of an unstable parabolic PDE subjected to unknown input disturbance

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INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2021年第11期52卷 2324-2337页

作者： Homayounzade, Mohamadreza Fasa Univ Fac Engn Dept Mech Engn Fasa Iran

In this paper, an adaptive robust boundary controller is designed for an unstable heat equation with external disturbance flowing into the control end. The disturbance and uncertainty effect is cancelled out in the closed-loop system by using on-line approximation of disturbance upper-bound provided as an output of adaptive robust update law. The asymptotic stability of the controlled system in the presence of unknown disturbance and/or parametric uncertainties is proved utilising the Lyapunov theorem. Unlike previous researches, the control implementation does not require prior knowledge of unknown disturbance. Moreover, the controller does not require measuring the system states or estimating the system states by an observer. The adaptive robust controller can be regarded as a combination of the best qualities of the adaptive controller and the robust controller with no prior knowledge of system uncertainty, and asymptotic tracking error performance. Numerical simulations and comparisons are provided to illustrate the effectiveness of the proposed method.

关键词： adaptive robust control asymptotic stability boundary control input disturbance stabilisation unstable heat equation

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adaptive robust control for Unknown Nonlinear Parameters of Single-Rod Hydraulic Actuators 33

Adaptive Robust Control for Unknown Nonlinear Parameters of ...

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第三十三届中国控制会议

作者： YAO Jianyong YANG Guichao MA Dawei WANG Jianbo School of Mechanical Engineering Nanjing University of Science and Technology Archives & Information Management Department Petrochina Qinghai Oilfield Company

ISBN: (纸本)9781479947249

This paper concerns motion control of single-rod hydraulic actuators with nonlinear unknown parameters. Most previous adaptive controls for hydraulic system only handle linear unknown parameters by assuming the original control volume is certain and known. But in some cases, they might be unknown or change, hence some unknown parameters appear nonlinearly. This paper presents a nonlinear adaptive robust control via a novel Lyapunov function to compensate for the nonlinear uncertain parameters caused by the varieties of the original control volumes. A reconstruction of the system model is also made to handle the coupling between the unmatched linear unknown parameters and the unknown nonlinear parameters. The proposed controller constructs a stable adaptive control strategy, which can compensate for the system linear uncertain parameters, and especially the nonlinear uncertain parameters, meanwhile a well-designed robust controller is also developed to cope with the hydraulic system nonlinearities and modelling uncertainties. The controller achieves a guaranteed transient performance and final tracking accuracy in the presence of both parametric uncertainties and uncertain nonlinearities;in the absence of uncertain nonlinearities, the scheme also achieves asymptotic tracking performance. Simulation results are obtained to verify the high performance nature of the proposed controller.

关键词： adaptive robust control single-rod hydraulic actuator motion control nonlinear unknown parameter Lyapunov function backstepping design

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adaptive robust backstepping control for a class of uncertain dynamical systems using neural networks

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NONLINEAR DYNAMICS 2015年第4期81卷 1597-1610页

作者： Wang, Yuchao Wu, Hansheng Prefectural Univ Hiroshima Grad Sch Comprehens Sci Res Hiroshima Hiroshima 7348558 Japan Prefectural Univ Hiroshima Dept Informat Sci Hiroshima Hiroshima 7348558 Japan

The problem of robust stabilization is considered for a class of nonlinear systems in the presence of structure uncertainties, external disturbances, and unknown time-varying virtual control coefficients. It is supposed that the upper bounds of the external disturbances and the virtual control coefficients are unknown. The unknown structural uncertainties are approximated by using neural networks (NNs). In particular, the prior knowledge about the weights and approximation errors of NNs is not required. The improved adaptation laws with -modification are employed to estimate the unknown parameters, which contain the upper bounds of the external disturbances and the virtual control coefficients, and the norm forms of weights and approximate errors of the NNs. Then, by making use of the updated values of these unknown parameters, a class of backstepping approach-based continuous adaptive robust state feedback controllers is synthesized. It is also shown that the proposed adaptive robust backstepping controller can guarantee the uniform asymptotic stability of such uncertain dynamical systems. Finally, two numerical examples are given to demonstrate the effectiveness of the proposed controller.

关键词： adaptive robust control Backstepping Uncertain dynamical systems Neural networks Asymptotic stability

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adaptive robust Constraint Following control for Omnidirectional Mobile Robot: An Indirect Approach

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IEEE ACCESS 2021年 9卷 8877-8887页

作者： Dong, Fangfang Jin, Dong Zhao, Xiaomin Han, Jiang Hefei Univ Technol Sch Mech Engn Hefei 230009 Peoples R China Hefei Univ Technol Sch Automot & Transportat Engn Hefei 230009 Peoples R China

The tracking performance of mobile robot is often affected by uncertainties from the deviation of initial conditions, external disturbances and varying loads, etc. An Udwadia-Kalaba based adaptive robust control is proposed for the trajectory tracking of an omnidirectional mobile robot in the presence of uncertainties. The proposed control includes nominal control part based on Udwadia-Kalaba theory and adaptive robust control part. The desired trajectory is considered as a virtual servo constraint applied to the robot system and converted into the second order standard form. So that the analytical form of constraint force could be obtained via Udwadia-Kalaba Fundamental Equation (UKFE). The system will precisely obey the given constraint (i.e., the desired trajectory) under the obtained constraint force in ideal cases. No auxiliary variables are required and it is effective whether the constraints are holonomic or nonholonomic. The designed adaptive law is in leakage type and the adaptive parameters are adjusted according to the performance of the system in order to compensate for the effect caused by uncertainty in the system. No extra information of uncertainty is needed except for the existence of uncertainty bound. Comparing with PID control, it can be found that the proposed control has better performance and can realize higher precision trajectory tracking control.

关键词： Udwadia-Kalaba theory adaptive robust control constraint following uniformly bounded uncertainty

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adaptive robust PID control subject to supervisory decoupled sliding mode control based upon genetic algorithm optimization

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2015年第4期37卷 505-514页

作者： Mahmoodabadi, M. J. Taherkhorsandi, M. Talebipour, M. Castillo-Villar, K. K. Sirjan Univ Technol Dept Mech Engn Sirjan Kerman Iran Univ Texas San Antonio Dept Mech Engn San Antonio TX 78249 USA

While proportional-integral-derivative (PID) control is the most applicable controller in industry, it does not provide important qualities, such as stability in case of uncertainties, being robust to disturbances, and optimal control inputs. To address the issue, this paper presents adaptive robust PID control subject to supervisory decoupled sliding mode control for an inverted pendulum system optimized by using a genetic algorithm optimization. Decoupled sliding mode control is a variable structure control method having appropriate features, such as good tracking performance and robustness with regard to disturbances. To this end, decoupled sliding mode control as a supervisory controller is utilized in accordance with PID control to deliver necessary control inputs and enhance the performance of the controller. Effectual methods such as the transfer function which resulted in having minimum chattering in the controller is employed in this paper. An adaptation mechanism is used to update the proportional, derivative, and integral gains of PID control. Then, the parameters of the controller are ascertained by using a genetic algorithm. The results and analysis prove the proper performance of the controller via providing an optimal smooth control input, proper tracking performance, and the elimination of the chattering problem.

关键词： adaptive robust control decoupled sliding mode control genetic algorithm optimization PID control the inverted pendulum and cart system

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Direct adaptive robust control of a Cable-Pulley System

Direct Adaptive Robust Control of a Cable-Pulley System

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American control Conference

作者： Jayender Bhardhwaj Bin Yao School of Mechanical Engineering Purdue University West Lafayette IN 47907 USA

ISBN: (纸本)9781479917730

Cable-actuated systems provide an effective method for precise motion control over various distances. Traditionally, their control has focused on eliminating transverse resonances and disturbances. Longitudinal cable resonances are usually neglected since they are assumed to be at much higher frequencies and much lower amplitudes compared to transverse resonances. However, in high-speed high-precision applications, all longitudinal modes cannot be ignored in the presence of high-inertia components. In this paper, we consider the trajectory tracking problem of a cable-pulley system using a reduced-order model of the dynamics. The controller is constructed using a Lyapunov-type direct adaptive robust control (DARC) framework with necessary design modifications to accommodate uncertain and non-smooth nonlinearities of the the system. The proposed controller guarantees prescribed output-tracking transient performance, as well as final tracking accuracy. Parameter estimates are obtained using a modified gradient law with the sole purpose of reducing tracking error. Experimental results are presented using a prototypical cable-pulley system to demonstrate its effectiveness.

关键词： adaptive robust control Transient performance Cable systems longitudinal cable

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Motion synchronization of dual-cylinder pneumatic servo systems with integration of adaptive robust control and cross-coupling approach

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Journal of Zhejiang University-Science C(Computers and Electronics) 2014年第8期15卷 651-663页

作者： De-yuan MENG Guo-liang TAO Ai-min LI Wei LI School of Mechatronic Engineering China University of Mining and Technology State Key Laboratory of Fluid Power Transmission and Control Zhejiang University

We investigate motion synchronization of dual-cylinder pneumatic servo systems and develop an adaptive robust synchronization controller. The proposed controller incorporates the cross-coupling technology into the integrated direct/indirect adaptive robust control(DIARC) architecture by feeding back the coupled position errors, which are formed by the trajectory tracking errors of two cylinders and the synchronization error between them. The controller employs an online recursive least squares estimation algorithm to obtain accurate estimates of model parameters for reducing the extent of parametric uncertainties, and uses a robust control law to attenuate the effects of parameter estimation errors, unmodeled dynamics, and disturbances. Therefore, asymptotic convergence to zero of both trajectory tracking and synchronization errors can be guaranteed. Experimental results verify the effectiveness of the proposed controller.

关键词： Motion synchronization Pneumatic servo system Cross-coupling adaptive robust control

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Observer-based adaptive robust control of nonlinear nonaffine systems with unknown gain sign

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NONLINEAR DYNAMICS 2014年第3期78卷 2185-2194页

作者： Arefi, Mohammad M. Ramezani, Zahra Jahed-Motlagh, Mohammad R. Shiraz Univ Sch Elect & Comp Engn Dept Power & Control Engn Shiraz Iran Iran Univ Sci & Technol Dept Elect Engn Tehran *** Iran

In this paper, a direct adaptive robust controller for a class of SISO nonaffine nonlinear systems is presented. The existence of an ideal controller is proved based on the Implicit Function Theorem. Since the Implicit Function Theorem only guarantees the existence of the controller and does not provide a way to construct it, a neural network is employed to approximate the unknown ideal controller. In addition, an observer is designed to estimate the system states because all the states may not be available for measurements. In this method, a priori knowledge about the sign of control gain is not required and, in order to cope with unknown control direction, the Nussbaum-type technique is used. Moreover, only one adaptive parameter is needed to be updated and also a robust term is used in the control signal to reduce the effect of external disturbances and approximation errors. Furthermore, the stability analysis for the closed-loop system is presented based on the Lyapunov stability method. Theoretical results are illustrated through a simulation example. These simulations show the effectiveness of the proposed method.

关键词： adaptive robust control Uncertain nonlinear system Nussbaum gain technique Neural network Observer-based control Nonaffine system

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adaptive robust Trajectory-Tracking control for Underactuated USVs with Model Uncertainty and Environmental Disturbance

Adaptive Robust Trajectory-Tracking Control for Underactuate...

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第43届中国控制会议

作者： Tianheng Ma Zheng Chen Ocean College Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In this article, an adaptive robust control strategy is proposed for the trajectory tracking of underactuated unmanned surface vehicle(USV), in which the model uncertainty and environmental disturbance are considered. In order to achieve precise control, a nonlinear USV model is adopted firstly, and the control objective and corresponding error dynamics are established by considering the underactuated characteristics of USV. Then, the integrated direct/indirect adaptive robust controller, based on the idea of backstepping control, is proposed to estimate the uncertain model parameters and disturbance adaptively and to compensate for estimation errors robustly. Theoretical analysis proves that the proposed control scheme could keep the system stable and is beneficial to improve the transient response and trajectory tracking performance, which is demonstrated by the numerical simulations.

关键词： adaptive robust control Unmanned Surface Vehicle (USV) Trajectory Tracking Model Uncertainty Environmental Disturbance

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Enhanced robust performance oriented integrated planning and control of a robotic manipulator with online instantaneous violent disturbances

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control ENGINEERING PRACTICE 2025年 160卷

作者： Huo, Zixuan Yuan, Mingxing Huang, Junsheng Zhang, Shuaikang Zhang, Xuebo Nankai Univ Inst Robot & Automat Informat Syst Coll Artificial Intelligence Tianjin Peoples R China Nankai Univ Tianjin Key Lab Intelligent Robot Tianjin Peoples R China

Robotic manipulators suffer from various modeling uncertainties, which generally deteriorate motion control performance. These uncertainties are commonly treated as a lumped disturbance which is then addressed by those disturbance estimation and attenuation control (DEAC) approaches. Although existing DEAC algorithms have shown their effectiveness of rejecting normal disturbances with moderate amplitudes and slow variations, they cannot work well in the presence of an instantaneous violent disturbance (IVD). An IVD is typically characterized by the short duration and large amplitude which exceeds the control input limit of a robotic joint. Consequently, the actual trajectory of a robotic manipulator will deviate from its desired trajectory significantly. Given this issue, an enhanced robust performance oriented two-loop framework which integrates minimum-time trajectory planning and nonlinear control is proposed in this paper. Specifically, a nonlinear adaptive robust controller is synthesized in the inner loop to handle both structured and unstructured uncertainties, while a synchronized trajectory planning algorithm is devised in the outer loop to force the deviated trajectory converging to the desired trajectory in minimum time. Comparative experiments on a robotic manipulator under IVDs show that the deviated trajectory is recovered fastest by the proposed approach.

关键词： Nonlinear control systems adaptive robust control Robotic manipulator Synchronized trajectory planning

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