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This thesis studies the tracking control problem of hypersonic vehicle subject to model parameter uncertainties, external disturbance and input saturation. Firstly, the feedback linearization for longitudinal model of hypersonic vehicle is reasonably decomposed into subsystems that include velocity and altitude subsystem. Secondly, the auxiliary system is introduced to design the anti-saturation adaptive...
The position tracking control problem of electrical cylinder in the presence of nonlinear friction load, inertia load and nonlinear disturbance due to its transmission process is addressed in this paper. To compensate all of these disturbances in the case of servo motion, active disturbance rejection control is used to make a continuous and precise transition. Tracking differentiator is used for arranging...
This paper studies the heading control of surface vehicles. A novel non-singular terminal sliding mode controller is developed guaranteeing that the vehicle can track the disired heading. Contrasting to the conventional terminal sliding mode control, the proposed algorithm can eliminate of the singularity problem. The proposed controller, not only, can take the vehicle convergence to the desired heading,...
An adaptive radial basis function neural network(RBFNN) sliding-mode controller with decoupled method was proposed for a class of underactuated system. Different sub-systems were devided according to the performance of the system, and the corresponding sub-sliding plane was designed for the sub-system; The RBFNN controller was designed for one of the sub-system, and its adaptive algorithm was derived...
This paper investigates the problem of adaptive almost disturbance decoupling for a class of generalized high-order uncertain nonlinear systems. The control strategy is on the basis of continuous domination and delicate adaptive technique and the adaptive state-feedback controller is one-dimensional irrespective of the number of unknown parameters. An appropriate nonlinear function and transformation...
In this paper, an adaptive dynamic surface output feedback control scheme is proposed for a class of nonlinear systems with unmodeled dynamics and output constraint. A description based on Lyapunov function for unmodeled dynamics is proposed to handle dynamic uncertainties. An one to one nonlinear mapping is introduced to solve output constrained problem. K-filters is introduced to estimate the unmeasured...
In modern space missions, such as space rendezvous and docking, actuator switching, booster stage separation for carrier rockets, the instantaneous mass or structure variations are exist. A Hamilton system based spacecraft attitude switching control scheme is proposed. The passivity control law is designed based on the Hamilton system model of spacecraft. A dynamic inversion method is used to compensate...
A new approach to design interval observers for a class of nonlinear systems is proposed in this paper. Based on the matrix theory, a simple elementary operation is given to find a positive realization for the systems with bounded uncertainties. Compared with previous works, the main contribution of this work is to provide a method to guarantee the existence of an observer gain by means of such a...
The path-following control problem is considered for a 3 degree-of-freedom underactuated surface vessel with disturbances. The Serret-Frenet coordinate and nonlinear state transformations are used to transform the system into a SISO nonlinear chained system. By using the disturbance observer to compensate the influence of external dynamic disturbance, a composite generalized predictive anti-disturbance...
This paper proposes a nonsmooth control scheme for high-order nonlinear time-delay systems without extra assumptions, which can be regarded as an expansion of the backstepping method based on dynamic gains. With the help of the Lyapunov-Krasovskii theorem, a continuous and memoryless controller is explicitly constructed, which guarantees that all the closed-loop signals are globally uniformly ultimately...
This paper investigates synchronization problem of two identical chaotic Lur'e systems with time delay using sampleddata control. Firstly, a novel piecewise Lyapunov-Krasovskii function (LKF), which considers fully useful information of the systems and their cross terms, is introduced. Secondly, a new synchronization criterion is developed in terms of linear matrix inequalities (LMIs) by discarding...
An adaptive neural control method is developed for a class of full state constrained nonlinear systems with unmodeled dynamics and time-varying delays in this paper. An integral barrier Lyapunov function (iBLF) is used to every step in the backstepping procedure to ensure that the full state constraints are not violated. The unmodeled dynamics is dealt with by introducing a dynamic signal and the...
This paper considers the global state-feedback stabilization for a class of nonlinear systems with multiple uncertainties. Different from the existing related literature, the systems under investigation are subjected to unknown input bias, and allow unknown control directions and parametric uncertainties. In this paper, an adaptive state-feedback scheme is proposed, not only to deal with the multiple...
Constant-Power Load (CPL) introduces destabilizing effect to dc-dc converters, which may lead to voltage oscillation or collapse. To mitigate the destabilizing problem brought by CPL, a nonlinear boundary controller is proposed in this paper, which has a nonlinear switching line. The converters' dynamics on the state space plane is analyzed through phase portrait. The proposed controller is verified...
In this paper, we investigate a distributed control approach to addressing the task-space synchronized tracking problem of networked manipulators with uncertain kinematics and dynamics, where the dynamic leader is available to only a subset of followers and followers have only local interaction. Specifically, without task-space velocity measurements, a disturbance observer is introduced to identify...
Using modified dynamic surface control (DSC) method and the approximation capability of neural networks, decentralized adaptive DSC is developed for a class of pure-feedback nonlinear interconnected systems with state unmodeled dynamics and output constraints. Dynamic signal is introduced to deal with the dynamic uncertainty produced by unmodeled dynamics. The integral barrier Lyapunov function (iBLF)...
This paper investigates the stabilization problem for a class of nonlinear time-delay Hamiltonian systems with actuator saturation and input delay, and proposes delay-independent and delay-dependent results on the systems by applying Lyapunov-Krasovskii (L-K) functional method. Different from existing methods, we construct a suitable L-K functional to overcome the input delay problems, obtain some...
This paper investigates the finite-time tracking problem for nonholonomic mobile robots despite of unknown system disturbances. In the proposed tracking control, a novel sliding mode controller is given at torques level such that both the position and the orientation tracking errors convergence to zero within finite time. In particular, by employing the adaptive method during the robot's moving process,...
In this paper, the modeling and prescribed performance control (PPC) problem is investigated for cold rolling mill system. First, considering the measurement delay and disturbances in practical process, a mathematical model is established for the cold rolling mill hydraulic automatic gauge control (HAGC) system. Then, based on a state transformation with the performance index function, a predefined...
This paper investigates the finite-time output feedback control problem for DC-DC buck converter systems. By using the techniques of finite-time controller and finite-time convergent observer, a new fast voltage regulation control algorithm is designed which can guarantee that the output voltage converges to the reference voltage in the finite time. An inductive current convergent observers has been...
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