showing 10 related works from this author
Event-triggered robust adaptive control for discrete time uncertain systems with unmodelled dynamics and disturbances
2019
In practice, modelling errors caused by high-order unmodelled dynamics and external disturbances are unavoidable. How to ensure the robustness of an adaptive controller with respect to such modelling errors is always a critical concern. In this study, the authors consider the design of event-triggered robust adaptive control for a class of discrete-time uncertain systems which involve such modelling errors and also are allowed to be non-minimum phase. Unlike some existing event-triggered control schemes, the developed controllers do not require that the measurement errors meet the corresponding input-to-state stable condition. Global stability of the closed-loop system which means that all …
Adaptive consensus of uncertain nonlinear systems with event triggered communication and intermittent actuator faults
2019
This paper investigates distributed consensus tracking problem for uncertain nonlinear systems with event-triggered communication. The common desired trajectory information and each subsystem's state will be broadcast to their linked subsystems only when predefined triggering conditions are satisfied. Compared with the existing related literature, the main features of the results presented in this paper include four folds. (i) A totally distributed adaptive control scheme is developed for multiple nonlinear systems without Lipschitz condition, while with parametric uncertainties. (ii) The derivative of desired trajectory function is allowed unknown by all subsystems and directed communicati…
Adaptive control of a class of strict-feedback time-varying nonlinear systems with unknown control coefficients
2018
Abstract In this paper, robust adaptive control of a class of strict-feedback nonlinear systems with unknown control directions is investigated. A novel Nussbaum-type function is developed and a key theorem is drawn which involves quantifying the addition of multiple Nussbaum functions with different control directions in a single inequality. Global stability of the closed-loop system and asymptotic stabilization of system output are proved. A simulation example is given to illustrate the effectiveness of the proposed control scheme.
Adaptive backstepping based consensus tracking of uncertain nonlinear systems with event-triggered communication
2021
Abstract This paper investigates the consensus tracking problem for a class of uncertain high-order nonlinear systems with parametric uncertainties and event-triggered communication. Under a directed communication condition, a totally distributed adaptive backstepping based control scheme is presented. Specifically, a decentralized triggering condition is adopted in this paper such that continuous monitoring of neighboring states, as required in some existing results, can be avoided. Besides, to handle the non-differentiability problem of virtual controllers, which arises from the utilization of neighboring states collected only at the triggering instants, the virtual controllers in each re…
Distributed adaptive leader–follower and leaderless consensus control of a class of strict-feedback nonlinear systems : a unified approach
2020
In this paper, distributed adaptive consensus for a class of strict-feedback nonlinear systems under directed topology condition is investigated. Both leader–follower and leaderless cases are considered in a unified framework. To design distributed controller for each subsystem, a local compensatory variable is generated based on the signals collected from its neighbors. Such a technique enables us to solve the leader–follower consensus and leaderless consensus problems in a unified framework. And it further allows us to treat the leaderless consensus as a special case of the leader–follower consensus. For leader–follower consensus, the assumption that the leader trajectory is linearly para…
Adaptive Backstepping Control of Nonlinear Uncertain Systems With Quantized States
2019
This paper investigates the stabilization problem for uncertain nonlinear systems with quantized states. All states in the system are quantized by a static bounded quantizer, including uniform quantizer, hysteresis-uniform quantizer, and logarithmic-uniform quantizer as examples. An adaptive backstepping-based control algorithm, which can handle discontinuity, resulted from the state quantization and a new approach to stability analysis are developed by constructing a new compensation scheme for the effects of the state quantization. Besides showing the global ultimate boundedness of the system, the stabilization error performance is also established and can be improved by appropriately adj…
Adaptive backstepping control of uncertain systems in the presence of unmodeled dynamics and time-varying delays
2016
In this paper, the problem of adaptive backstepping control for uncertain systems in the presence of unmodeled dynamics and input time-varying delays is studied. Under some mild assumptions, a robust adaptive controller is designed such that the system is globally stabilized by using adaptive backstepping technique. Meanwhile, the transient system performance in L2 and norms of system output can be adjusted by choosing the design parameters. Finally, a simulation example is given to show the effectiveness of the results.
Robust adaptive tracking control of uncertain systems with time-varying input delays
2017
ABSTRACTIn this paper, the problem of robust adaptive tracking control of uncertain systems with time-varying input delays is studied. Under some mild assumptions, a robust adaptive controller is designed by using adaptive backstepping technique such that the system is globally stable and the system output can track a given reference signal. At the same time, a root mean square type of bound is obtained for the tracking error as a function of design parameters and thus can be adjusted. Finally, one numerical example is given to show the effectiveness of the proposed scheme.
Adaptive Backstepping Control of Uncertain Nonlinear Systems With Input and State Quantization
2022
Though it is common in network control systems that the sensor and control signals are transmitted via a common communication network, no result is available in investigating the stabilization problem for uncertain nonlinear systems with both input and state quantization. The issue is solved in this paper, by presenting an adaptive backstepping based control algorithm for the systems with sector bounded input and state quantizers. In addition to overcome the difficulty to proceed recursive design of virtual controls with quantized states, the relation between the input signal and error state need be well established to handle the effects due to quantization. It is shown that all closed-loop…
Adaptive control of uncertain nonlinear systems with quantized input signal
2018
Abstract This paper proposes new adaptive controllers for uncertain nonlinear systems in the presence of input quantization. The control signal is quantized by a class of sector-bounded quantizers including the uniform quantizer, the logarithmic quantizer and the hysteresis quantizer. To clearly illustrate our approaches, we will start with a class of single-loop nonlinear systems and then extend the results to multi-loop interconnected nonlinear systems. By using backstepping technique, a new adaptive control algorithm is developed by constructing a new compensation method for the effects of the input quantization. A hyperbolic tangent function is introduced in the controller with a new tr…