In this paper, an adaptive control scheme is proposed based on backstepping approach for a class of second-order nonlinear systems with non-triangular uncertainties. The triangular form of the control system is destro...
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In this paper, an adaptive control scheme is proposed based on backstepping approach for a class of second-order nonlinear systems with non-triangular uncertainties. The triangular form of the control system is destroyed by such uncertainties and the traditional backstepping can not be directly used in the controller design. Compared with the existing results, nonlinear terms and unknown parameters appear in every channel. Thus the linear type of relation between the state vector x and z is difficult to maintain. To overcome such difficulty, a new backatepping-based adaptive control scheme is proposed. A significance of our new scheme is to introduce the feedback gain term l(i)z(i)x(i)(2) in virtual control signals. Under the proposed control scheme, not only the non-triangular uncertainties can be restrained effectively but also the estimation of parameter has been realized successfully. Finally simulation studies are used to verify the effectiveness of the proposed scheme.
This paper investigates an adaptive fuzzy output feedback control design problem for switched non-linear system in non-triangular structure form. The discussed system contains unknown nonlinear dynamics, unmeasured st...
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This paper investigates an adaptive fuzzy output feedback control design problem for switched non-linear system in non-triangular structure form. The discussed system contains unknown nonlinear dynamics, unmeasured states and unknown time-varying delays under a batch of switching signals. Fuzzy logic systems are utilised to learn unknown nonlinear dynamics and construct a fuzzy switched nonlinear observer. By combining the property of fuzzy basis function with Lyapunov-Krasovskii functional and the command filter, a novel observer-based fuzzy adaptive backstepping schematic design algorithm is presented. Furthermore, the stability of the closed-loop control systemis proved via Lyapunov stability theory and average dwell time method. The simulation results are presented to verify the validity of the proposed control scheme.
In this paper, we consider a class of second-order uncertain nonlinear systems. Besides parametric uncertainties, a non-parametric uncertainty may exist in every state equation or channel with its effects bounded by a...
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In this paper, we consider a class of second-order uncertain nonlinear systems. Besides parametric uncertainties, a non-parametric uncertainty may exist in every state equation or channel with its effects bounded by a known function. Such a bounding function is allowed to depend on all system states which means that the actual system does not need to meet the triangularstructure. Therefore the currently available backstepping technique cannot be used to design controllers. To overcome such difficulty, a new backatepping-based robust adaptive control scheme is proposed. It is shown that the proposed scheme can ensure all signals in the closed-loop system bounded.
This paper solves the finite-time switching control issue for the nonstrict-feedhack nonlinear switched systems. The controlled plants contain immeasurable states, arbitrarily switchings, and the unknown functions whi...
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This paper solves the finite-time switching control issue for the nonstrict-feedhack nonlinear switched systems. The controlled plants contain immeasurable states, arbitrarily switchings, and the unknown functions which are constructed with the whole states. Neural network is used to simulate the uncertain systems and a filter-based state observer is designed to estimate the immeasurable states in this paper, respectively. Based on the backstepping recursive technique and the common Lyapunov function method, a finite-time switching control method is presented. Due to the developed finite-time control strategy, the closed-loop signals can he ensured to be bounded under arbitrarily switchings, and the outputs of systems can quickly track the desired reference signals in finite time. The effectiveness of the proposed method is given through its application to a massspring-damper system.
A high gain like observer with updated gain is proposed for a class of cascade nonlinear and nontriangular systems that are observable for any input. The objective of the gain adaptation is to perform an admissible t...
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A high gain like observer with updated gain is proposed for a class of cascade nonlinear and nontriangular systems that are observable for any input. The objective of the gain adaptation is to perform an admissible tradeoff between state reconstruction dynamics on the one hand versus noise amplification on the other hand. To this end, the gain of the proposed observer is tuned through a single scalar time-varying parameter governed by an adequate differential Riccati equation. The involved adaptation process is mainly driven by the power of the output observation error norm computed on a moving horizon window. Simulation results are given to show the effectiveness of the proposed observer, namely its exponential convergence and its insensitivity with respect to noise measurements. (C) 2011 Elsevier B.V. All rights reserved.
This paper investigates the problem of global stabilization of switched nonlinear systems in non-triangular form whose subsystems are not assumed to be asymptotically stabilizable when applying backstepping. The use o...
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ISBN:
(纸本)9789881563811
This paper investigates the problem of global stabilization of switched nonlinear systems in non-triangular form whose subsystems are not assumed to be asymptotically stabilizable when applying backstepping. The use of multiple Lyapunov functions (MLFs) method permits removal of a common restriction in which the nonlinear structures in the non-switched nonlinear systems are restricted to a triangularstructure when applying backstepping. Using the MLFs method and the adding a power integrator technique, we design state-feedback controllers for individual subsystems and construct a switching law to guarantee asymptotic stability of the closed-loop switched system. An example is provided to demonstrate the effectiveness of the proposed design method.
This paper investigates the problem of global stabilization of switched nonlinear systems in non-triangular form whose subsystems are not assumed to be asymptotically stabilizable when applying *** use of multiple Lya...
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This paper investigates the problem of global stabilization of switched nonlinear systems in non-triangular form whose subsystems are not assumed to be asymptotically stabilizable when applying *** use of multiple Lyapunov functions (MLFs) method permits removal of a common restriction in which the nonlinear structures in the non-switched nonlinear systems are restricted to a triangularstructure when applying *** the MLFs method and the adding a power integrator technique,we design state-feedback controllers for individual subsystems and construct a switching law to guarantee asymptotic stability of the closed-loop switched *** example is provided to demonstrate the effectiveness of the proposed design method.
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