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In this paper, the problem of adaptive tracking control for a class of linear continuous time-invariant systems subject to constrained actuators is investigated. A novel control strategy is developed to ensure the bounded tracking of the systems. Based on Lyapunov stability theory, a result that indicates the tracking bound can be reduced as small as desired via adjusting control parameters is obtained...
This paper tackles the tracking control of flexible hypersonic vehicle (FHV) with mismatched uncertainties by utilizing the adaptive nested terminal sliding mode control method. The controllers of velocity loop and altitude loop are designed separately based on the control-oriented model which is obtained by simplification of the FHV model. It's noted that the previous sliding mode control is sensitive...
The inherent rate-dependent hysteresis in smart actuators hinders their wider applicability in practical engineeering. In this paper, based on the rate-dependent Hammerstein model, a 2 DOF control scheme with a robust controller combined with a hysteresis compensator is proposed for tracking control of smart actuators. The hysteresis compensator is first connected in cascade with an actuator to cancel...
This paper studies the trajectory tracking control problem of an underacutated hovercraft, equipping only two control inputs with three degrees of freedom. A novel bioinspired tracking control approach is proposed by intergrating backstepping technique and additive neural dynamics model. The controller is first designed from the error dynamics analysis of the hovercraft. And then three additive neural...
For a class of Lagrange systems with colored noise, the problem of tracking control is considered. Using the structural properties of Lagrange systems, a Lyapunov function is skillfully constructed. Based on it, using backstepping idea, a tracking controller is designed such that the mean square of the tracking error converges to an arbitrarily small neighborhood of zero by tuning design parameters...
This paper deals with the optimal model output tracking problem where the reference model is a class of Morkov jump system, which the aim is to make the output of the linear system track the output of a given reference model with Markov jumps. A new succinct general complete parametric expression for the tracking controller is established. The characteristic of this paper is to introduce the Markov...
This paper is concerned with the H∞ tracking control design problem of a period-review inventory management system with perishable goods. The inventory system under consideration is replenished from multiple supply sources. By introducing a linear exogenous system, which describes the characteristics of the desired stock level of the inventory system, an H∞ tracking control scheme is presented and...
This work studies the trajectory tracking for a car-like robot. Based on the kinematic equations of the mobile robot, an tracking error model is obtained. And then, this nonlinear model is linearized around origin. Based on local linearized model, an optimal controller is designed for the trajectory tracking problem by using optimal linear quadratic (LQ) design approach. The simulation shows the effectiveness...
Due to the inherent nonlinearity of Hamilton-Jacobi-Bellman (HJB) equations for the optimal control of general affine nonlinear discrete-systems, it is difficult to obtain the analytic solutions of optimal tracking control of nonlinear systems, adaptive dynamic programming (ADP) with critic-actor architecture provides an effective way to realize online learning tracking control of dynamical systems...
A new adaptive sliding mode indirect control system is proposed for trajectory tracking control of air cushion vessel (ACV). The two parts of the control system are tracking guidance control and course control. Fuzzy sliding mode control is used to design the tracking guidance control. Fuzzy logic is employed to output command course which eliminate the error of track. The course control firstly combine...
This paper is concerned with the tracking control problem for continuous-time nonlinear systems that are represented by the Takagi-Sugeno (T-S) fuzzy models. Attention is focused on the design of a tracking controller attenuating the tracking error as small as possible in the H∞ performance sense. In order to derive less conservative results, conditions for designing tracking controller are established...
This paper investigates the output-tracking control of time-varying linear (TVL) system. Note that the input is always limited in a range due to actuator physical constraints or energy-saving purposes. By combining the Zhang dynamics (ZD) and the sigmoid function, an effective controller, termed sigmoid function aided ZD (SFAZD) controller, is designed for tracking the TVL system. Simulative verifications...
For the sake of the hysteresis characteristics and dynamic behavior description of the piezo-scanner, an improved Prandtl-Ishlinskii(P-I) hysteresis model for an Atomic Force Microscope (AFM) system in X-axis is established, which is then utilized to design a 2DOF tracking controller combined feedforward control with feedback control, achieving accurate tracking performance for an given trajectory...
The cooperative control of marine vehicles finds many applications in a variety of marine missions and tasks. This paper investigates the receding horizon formation control problem of a feet of nonholonomic autonomous underwater vehicles (AUVs), in which the follower AUVs are required to keep a prescribed formation pattern with respect to the leader one. A novel optimization problem and a new receding...
A novel adaptive control design based on the immersion and invariance (I&I) theory is presented for the non-minimum phase hypersonic vehicles with parameter uncertainties. The vehicle dynamics are first divided into the velocity subsystem, the altitude/flight-path angle subsystem and the angle of attack/pitch rate subsystem. Then three I&I based adaptive controllers are designed for each subsystem...
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