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Shaocheng Tong - One of the best experts on this subject based on the ideXlab platform.
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adaptive fuzzy Prescribed Performance control of nontriangular structure nonlinear systems
IEEE Transactions on Fuzzy Systems, 2020Co-Authors: Xinfeng Shao, Shaocheng TongAbstract:In this article, a new n -step fuzzy adaptive output tracking Prescribed Performance control problem is investigated for a class of nontriangular structure nonlinear systems. In the control design process, the mean value theorem is used to separate the virtual state variables needed for the control design, and the implicit function theorem is exploited to assert the existence of the desired continuous control. The fuzzy logic systems are used to identify the unknown nonlinear functions and ideal controller, respectively. By constructing a novel iterative Lyapunov function, a new n -step adaptive backstepping control design algorithm is established. The prominent characteristics of the proposed adaptive fuzzy backstepping control design algorithm are as follows: one is that it can ensure the closed-loop control system is the semiglobally uniformly ultimately bounded and the tracking error can converge within the Prescribed Performance bounds. The other is that it solves the controller design problem for the nontriangular nonlinear systems that the previous adaptive backstepping design techniques cannot deal with. Two examples are provided to show the effectiveness of the presented control method.
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Actuator Failure Compensation-Based Adaptive Control of Active Suspension Systems With Prescribed Performance
IEEE Transactions on Industrial Electronics, 2020Co-Authors: Yan-jun Liu, Qiang Zeng, Shaocheng Tong, C. L. Philip Chen, Lei LiuAbstract:In this article, we study the control problem of the vehicle active suspension systems (ASSs) subject to actuator failure. An adaptive control scheme is presented to stabilize the vertical displacement of the car-body. Meanwhile, the ride comfort, road holding, and suspension space limitation can be guaranteed. In order to overcome the uncertainty, the neural network is developed to approximate the continuous function with the unknown car-body mass. Furthermore, to improve the transient regulation Performance of ASSs when the actuator failure occurs, we propose a novel control scheme with the Prescribed Performance function to characterize the tracking error convergence rate and maximum overshoot in ASSs. Then, the stability of the proposed control algorithm can be proven based on the Lyapunov theorem. Finally, the comparative simulation results of two actuator failure types (i.e., the float fault and the loss of effectiveness fault) are given to demonstrate the effectiveness of the proposed control schemes.
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adaptive neural networks Prescribed Performance control design for switched interconnected uncertain nonlinear systems
IEEE Transactions on Neural Networks, 2018Co-Authors: Shaocheng TongAbstract:In this paper, an adaptive neural net- works (NNs)-based decentralized control scheme with the Prescribed Performance is proposed for uncertain switched nonstrict-feedback interconnected nonlinear systems. It is assumed that nonlinear interconnected terms and nonlinear functions of the concerned systems are unknown, and also the switching signals are unknown and arbitrary. A linear state estimator is constructed to solve the problem of unmeasured states. The NNs are employed to approximate unknown interconnected terms and nonlinear functions. A new output feedback decentralized control scheme is developed by using the adaptive backstepping design technique. The control design problem of nonlinear interconnected switched systems with unknown switching signals can be solved by the proposed scheme, and only a tuning parameter is needed for each subsystem. The proposed scheme can ensure that all variables of the control systems are semi-globally uniformly ultimately bounded and the tracking errors converge to a small residual set with the Prescribed Performance bound. The effectiveness of the proposed control approach is verified by some simulation results.
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adaptive fuzzy control with Prescribed Performance for block triangular structured nonlinear systems
IEEE Transactions on Fuzzy Systems, 2018Co-Authors: Shaocheng TongAbstract:In this paper, an adaptive fuzzy control method with Prescribed Performance is proposed for multi-input and multioutput block-triangular-structured nonlinear systems with immeasurable states. Fuzzy logic systems are adopted to identify the unknown nonlinear system functions. Adaptive fuzzy state observers are designed to solve the problem of unmeasured states, and a new observer-based output-feedback control scheme is developed based on adaptive fuzzy control principle and bacsktepping design technique. The proposed control method not only overcomes the problem of “explosion of complexity” existing in the backstepping design, but also removes the restrictive assumption that unknown nonlinear functions must satisfy global Lipschitz condition. The proposed scheme can ensure that all variables of the control systems are semiglobally uniformly ultimately bounded and the tracking errors converge to a small residual set with the Prescribed Performance bound. Simulation results of chemical process control system are presented to further demonstrate the effectiveness of the proposed control strategy.
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adaptive output feedback control design with Prescribed Performance for switched nonlinear systems
Automatica, 2017Co-Authors: Shaocheng Tong, Lu Liu, Gang FengAbstract:Abstract In this paper, an output feedback control method with Prescribed Performance is proposed for single-input and single-output (SISO) switched non-strict-feedback nonlinear systems. It is assumed that nonlinear functions of the concerned systems are unknown, switching signals are unknown and arbitrary, and the states are unmeasured. A linear state observer is designed to estimate the unmeasured states, and an observer-based output feedback control scheme is developed. The key advantages of the proposed control strategy are that virtual control gains of the concerned non-strict-feedback nonlinear systems are not required to be known, and only one tuning parameter is needed. Based on Lyapunov stability theory, it is shown that all the signals in the resulting closed-loop system are semi-globally uniformly ultimately bounded, and the tracking error converges to a small residual set with the Prescribed Performance bound. The effectiveness of the proposed control approach is verified by a numerical example.
Changchun Hua - One of the best experts on this subject based on the ideXlab platform.
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adaptive Prescribed Performance control of half car active suspension system with unknown dead zone input
Mechanical Systems and Signal Processing, 2018Co-Authors: Changchun Hua, Jiannan ChenAbstract:Abstract This paper proposes a novel adaptive control scheme for half-car active suspension system (HCASS) with unknown dead-zone input. Under the proposed control framework, the overall HCASS is divided into two subsystems. The proposed controller is designed based on the first subsystem, and the second subsystem is regarded as zero dynamics of HCASS. For the first subsystem, a new robust adaptive strategy is first constructed to compensate the adverse effects of unknown dead-zone input nonlinearities. Further, in order to ensure some important state variables within the given restrictive conditions all the time, a novel Prescribed Performance control strategy (PPC, for short) is designed. For the second subsystem, the corresponding stability analysis of zero dynamics is presented. Finally, the solution of the resulting closed-loop system is ensured to be uniformly ultimately bounded, and the effectiveness of the proposed approach is illustrated by a strict and complete simulation analysis.
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adaptive Prescribed Performance control of quavs with unknown time varying payload and wind gust disturbance
Journal of The Franklin Institute-engineering and Applied Mathematics, 2018Co-Authors: Changchun Hua, Jiannan Chen, Xinping GuanAbstract:Abstract In this paper, a new robust adaptive Prescribed Performance control (PPC, for short) scheme is proposed for quadrotor UAVs (QUAVs, for short) with unknown time-varying payloads and wind gust disturbances. Under the presented framework, the overall control system is decoupled into translational subsystem and rotational subsystem. These two subsystems are connected to each other through common attitude extraction algorithms. For translational subsystem, a novel robust adaptive PPC strategy is designed based on the sliding mode control technique to provide better trajectory tracking Performance and well robustness. For rotational subsystem, a new robust adaptive controller is constructed based on backstepping technique to track the desired attitudes. Finally, the overall system is proved to be stable in the sense of uniform ultimate boundedness, and numerical simulation results are presented to validate the effectiveness of the proposed control scheme.
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adaptive fuzzy Prescribed Performance control for nonlinear switched time delay systems with unmodeled dynamics
IEEE Transactions on Fuzzy Systems, 2018Co-Authors: Changchun Hua, Guopin Liu, Xinping GuanAbstract:This paper considers the adaptive fuzzy output feedback tracking control problem for a class of uncertain nonlinear switched systems with time delay and unmodeled dynamics. Based on a kind of switched K-filters, a Prescribed Performance control scheme is proposed to guarantee the tracking Performance and restrain the fluctuation caused by switches between submodes as well. In addition, fuzzy logic systems (FLSs) are use to approximate unknown nonlinear functions and dynamic surface control (DSC) method is employed to eliminate the explosion of complexity problem inherent in traditional backstepping method. The proposed controllers of corresponding subsystems guarantee that all closed-loop signals remain bounded under a class of switching signals with average dwell time (ADT). A numerical simulation is performed to illustrate the effectiveness of the proposed approach.
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leader follower finite time formation control of multiple quadrotors with Prescribed Performance
International Journal of Systems Science, 2017Co-Authors: Changchun Hua, Jiannan ChenAbstract:ABSTRACTThis paper investigates the leader-follower formation problem for a group of quadrotors. Finite-time control scheme and Prescribed Performance control method, which are regarded as two highlights, are introduced in this paper. First, a control scheme with Prescribed Performance is used to control the translational movements to ensure the quadrotors obtain a relative gentle transient process and an adjustable steady-state error bound. Then, the desired orientations for the rotation subsystem provided by translational movements part are stabilised by a fixed-time control law. Finally, by designing a finite-time formation controller, followers can track the desired position and heading angle in finite time, which is important for the practical application. Several simulation results are given to show the effectiveness of the designed control strategy.
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distributed output feedback consensus tracking Prescribed Performance control for a class of non linear multi agent systems with unknown disturbances
Iet Control Theory and Applications, 2016Co-Authors: Liuliu Zhang, Changchun Hua, Xinping GuanAbstract:This paper studies the problem of distributed output feedback consensus tracking control for leader–following non-linear multi-agent systems in strict-feedback form under a directed graph topology with Prescribed Performance requirement. The unknown external disturbances are considered in the followers. First, the authors design reduced-order observers to estimate the unmeasured state variables of the followers online. Then, the novel controllers are designed with Prescribed Performance control based on backstepping method. The dynamic surface control technique is used to deal with the calculating explosion problem. It is strictly proved that the resulting whole system is stable in the sense of semi-globally uniformly ultimately boundedness and both transient and steady-state Performance of consensus tracking errors are preserved based on Lyapunov stability theory. Finally, a simulation example is presented to verify the effectiveness of the proposed techniques.
Xinping Guan - One of the best experts on this subject based on the ideXlab platform.
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adaptive Prescribed Performance control of quavs with unknown time varying payload and wind gust disturbance
Journal of The Franklin Institute-engineering and Applied Mathematics, 2018Co-Authors: Changchun Hua, Jiannan Chen, Xinping GuanAbstract:Abstract In this paper, a new robust adaptive Prescribed Performance control (PPC, for short) scheme is proposed for quadrotor UAVs (QUAVs, for short) with unknown time-varying payloads and wind gust disturbances. Under the presented framework, the overall control system is decoupled into translational subsystem and rotational subsystem. These two subsystems are connected to each other through common attitude extraction algorithms. For translational subsystem, a novel robust adaptive PPC strategy is designed based on the sliding mode control technique to provide better trajectory tracking Performance and well robustness. For rotational subsystem, a new robust adaptive controller is constructed based on backstepping technique to track the desired attitudes. Finally, the overall system is proved to be stable in the sense of uniform ultimate boundedness, and numerical simulation results are presented to validate the effectiveness of the proposed control scheme.
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adaptive fuzzy Prescribed Performance control for nonlinear switched time delay systems with unmodeled dynamics
IEEE Transactions on Fuzzy Systems, 2018Co-Authors: Changchun Hua, Guopin Liu, Xinping GuanAbstract:This paper considers the adaptive fuzzy output feedback tracking control problem for a class of uncertain nonlinear switched systems with time delay and unmodeled dynamics. Based on a kind of switched K-filters, a Prescribed Performance control scheme is proposed to guarantee the tracking Performance and restrain the fluctuation caused by switches between submodes as well. In addition, fuzzy logic systems (FLSs) are use to approximate unknown nonlinear functions and dynamic surface control (DSC) method is employed to eliminate the explosion of complexity problem inherent in traditional backstepping method. The proposed controllers of corresponding subsystems guarantee that all closed-loop signals remain bounded under a class of switching signals with average dwell time (ADT). A numerical simulation is performed to illustrate the effectiveness of the proposed approach.
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distributed output feedback consensus tracking Prescribed Performance control for a class of non linear multi agent systems with unknown disturbances
Iet Control Theory and Applications, 2016Co-Authors: Liuliu Zhang, Changchun Hua, Xinping GuanAbstract:This paper studies the problem of distributed output feedback consensus tracking control for leader–following non-linear multi-agent systems in strict-feedback form under a directed graph topology with Prescribed Performance requirement. The unknown external disturbances are considered in the followers. First, the authors design reduced-order observers to estimate the unmeasured state variables of the followers online. Then, the novel controllers are designed with Prescribed Performance control based on backstepping method. The dynamic surface control technique is used to deal with the calculating explosion problem. It is strictly proved that the resulting whole system is stable in the sense of semi-globally uniformly ultimately boundedness and both transient and steady-state Performance of consensus tracking errors are preserved based on Lyapunov stability theory. Finally, a simulation example is presented to verify the effectiveness of the proposed techniques.
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decentralized output feedback adaptive nn tracking control for time delay stochastic nonlinear systems with Prescribed Performance
IEEE Transactions on Neural Networks, 2015Co-Authors: Changchun Hua, Liuliu Zhang, Xinping GuanAbstract:This paper studies the dynamic output feedback tracking control problem for stochastic interconnected time-delay systems with the Prescribed Performance. The subsystems are in the form of triangular structure. First, we design a reduced-order observer independent of time delay to estimate the unmeasured state variables online instead of the traditional full-order observer. Then, a new state transformation is proposed in consideration of the Prescribed Performance requirement. Using neural network to approximate the composite unknown nonlinear function, the corresponding decentralized output tracking controller is designed. It is strictly proved that the resulting closed-loop system is stable in probability in the sense of uniformly ultimately boundedness and that both transient-state and steady-state Performances are preserved. Finally, a simulation example is given, and the result shows the effectiveness of the proposed control design method.
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output feedback control for interconnected time delay systems with Prescribed Performance
Neurocomputing, 2014Co-Authors: Changchun Hua, Liuliu Zhang, Xinping GuanAbstract:This paper studies the problem of output feedback control for interconnected time-delay systems with Prescribed Performance. Currently, few of the existing results consider the Prescribed Performance control in the nonlinear interconnected time-delay systems. The subsystems are in the form of triangular structure with unmodeled dynamics. First, we design a reduced-order observer to estimate the unmeasured states online instead of the traditional full-order observer. Then, by proposing a new state transformation with the Performance function, we construct a novel output feedback controller with the idea of the backstepping method. It is strictly proved that the resulting closed-loop system is stable in the sense of uniformly ultimately boundedness and both transient and steady-state Performances of the outputs are preserved. Finally, a simulation example is given and the results show the effectiveness of the proposed control design method.
George A Rovithakis - One of the best experts on this subject based on the ideXlab platform.
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Prescribed Performance tracking of a variable stiffness actuated robot
IEEE Transactions on Control Systems and Technology, 2015Co-Authors: Efi Psomopoulou, Zoe Doulgeri, Achilles Theodorakopoulos, George A RovithakisAbstract:This paper is concerned with the design of a state feedback control scheme for variable stiffness actuated (VSA) robots, which guarantees Prescribed Performance of the tracking errors despite the low range of mechanical stiffness. The controller does not assume knowledge of the actual system dynamics nor does it utilize approximating structures (e.g., neural networks and fuzzy systems) to acquire such knowledge, leading to a low complexity design. Simulation studies, incorporating a model validated on data from an actual variable stiffness actuator (VSA) at a multi-degrees-of-freedom robot, are performed. Comparison with a gain scheduling solution reveals the superiority of the proposed scheme with respect to Performance and robustness.
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a low complexity global approximation free control scheme with Prescribed Performance for unknown pure feedback systems
Automatica, 2014Co-Authors: Charalampos P Bechlioulis, George A RovithakisAbstract:Abstract A universal, approximation-free state feedback control scheme is designed for unknown pure feedback systems, capable of guaranteeing, for any initial system condition, output tracking with Prescribed Performance and bounded closed loop signals. By Prescribed Performance, it is meant that the output error converges to a predefined arbitrarily small residual set, with convergence rate no less than a certain prespecified value, having maximum overshoot less than a preassigned level. The proposed state feedback controller isolates the aforementioned output Performance characteristics from control gains selection and exhibits strong robustness against model uncertainties, while completely avoiding the explosion of complexity issue raised by backstepping-like approaches that are typically employed to the control of pure feedback systems. In this respect, a low complexity design is achieved. Moreover, the controllability assumptions reported in the relevant literature are further relaxed, thus enlarging the class of pure feedback systems that can be considered. Finally, simulation studies clarify and verify the approach.
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output feedback stabilization with Prescribed Performance for uncertain nonlinear systems in canonical form
Conference on Decision and Control, 2013Co-Authors: Charalampos P Bechlioulis, Achilles Theodorakopoulos, George A RovithakisAbstract:The problem of designing an output feedback stabilizing controller for nonlinear systems in canonical form, while guaranteeing Prescribed transient and steady state Performance bounds, without incorporating the actual system nonlinearities and/or their approximations, is considered in this work. The proposed design follows three steps. Assuming full state measurement, a state feedback controller is firstly constructed to solve the problem and subsequently its output is constrained via the utilization of a carefully selected saturation function to preserve the stability and Performance attributes established in its absence. Finally, at a third stage the actual system states are replaced by the states of a high gain observer to formulate an output feedback controller. It is proven that only the boundedness of the closed loop system is sufficient to achieve stabilization with Prescribed Performance. As a consequence the proposed output feedback Prescribed Performance control design proves significantly less complex compared to the relevant literature, while reducing the peaking phenomenon which is typically related to the operation of the high gain observer. Simulation studies clarify and verify the approach.
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a priori guaranteed evolution within the neural network approximation set and robustness expansion via Prescribed Performance control
IEEE Transactions on Neural Networks, 2012Co-Authors: Charalampos P Bechlioulis, George A RovithakisAbstract:A neuroadaptive control scheme for strict feedback systems is designed, which is capable of achieving Prescribed Performance guarantees for the output error while keeping all closed-loop signals bounded, despite the presence of unknown system nonlinearities and external disturbances. The aforementioned properties are induced without resorting to a special initialization procedure or a tricky control gains selection, but addressing through a constructive methodology the longstanding problem in neural network control of a priori guaranteeing that the system states evolve strictly within the compact region in which the approximation capabilities of neural networks hold. Moreover, it is proven that robustness against external disturbances is significantly expanded, with the only practical constraint being the magnitude of the required control effort. A comparative simulation study clarifies and verifies the approach.
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adaptive dynamic output feedback neural network control of uncertain mimo nonlinear systems with Prescribed Performance
IEEE Transactions on Neural Networks, 2012Co-Authors: Artemis K Kostarigka, George A RovithakisAbstract:An adaptive dynamic output feedback neural network controller for a class of multi-input/multi-output affine in the control uncertain nonlinear systems is designed, capable of guaranteeing Prescribed Performance bounds on the system's output as well as boundedness of all other closed loop signals. It is proved that simply guaranteeing a boundedness property for the states of a specifically defined augmented closed loop system is necessary and sufficient to solve the problem under consideration. The proposed dynamic controller is of switching type. However, its continuity is guaranteed, thus alleviating any issues related to the existence and uniqueness of solutions. Simulations on a planar two-link articulated manipulator illustrate the approach.
Peng Shi - One of the best experts on this subject based on the ideXlab platform.
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disturbance observer based terminal sliding mode control for linear traction system with Prescribed Performance
IEEE Transactions on Transportation Electrification, 2021Co-Authors: Bo Ding, Peng Shi, Bin Jiang, Weilin YangAbstract:In this article, a terminal sliding mode control (SMC) strategy based on the nonlinear disturbance observer (NDO) and Prescribed Performance method is proposed to deal with the speed tracking problem for permanent-magnet linear synchronous traction systems in urban rail transit. First, to improve the dynamic and static Performances, a Prescribed Performance control characterizing the tracking Performance employed for error transformation. This limits the tracking error of the original system to a Prescribed bound if the transformed system is stable. Then, a terminal SMC is designed with backstepping, which guarantees the states converge to equilibrium point in finite time, realizing fast transient response of the system. Considering the existence of the uncertain disturbance, an NDO is utilized to estimate perturbations, and then, the estimation is used for the feedforward compensation, further improving system stability. Finally, the effectiveness and advantages of the proposed scheme are illustrated by computer simulations and experiments in dSPACE.
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observer based finite time adaptive fuzzy control with Prescribed Performance for nonstrict feedback nonlinear systems
IEEE Transactions on Fuzzy Systems, 2021Co-Authors: Guozeng Cui, Peng ShiAbstract:This paper considers the problem of finite-time adaptive fuzzy Prescribed Performance control via output-feedback for nonstrict-feedback nonlinear systems. The fuzzy state observer is designed to estimate the unmeasured system states. To rapidly approximate the derivative of virtual signal, a novel finite-time command filter is proposed. The fractional power error compensation mechanism is established to remove filtered error. By integrating the Prescribed Performance control and command filter technique into backstepping recursive design, a finite-time adaptive output-feedback controller is constructed, and the stability of closed-loop system is strictly proved. The designed control strategy shows that the closed-loop system is practical finite-time stable, and the output tracking error converges to a residual set within Prescribed Performance bound in finite time. Finally, a numerical comparison and a practical examples are provided to demonstrate the validity of the developed finite-time control algorithm.
