Adaptive backstepping control that is equivalent to tuning functions design

详细信息    查看全文

• 作者：Maoli Wang ; Zhengqiang Zhang ; Yanmei Liu
• 关键词：Adaptive control ; nonlinear systems ; tuning functions
• 刊名：International Journal of Control, Automation and Systems
• 出版年：2016
• 出版时间：February 2016
• 年：2016
• 卷：14
• 期：1
• 页码：90-98
• 全文大小：276 KB
• 参考文献：[1]I. Kanellakopoulos, P. V. Kokotovic, and A. S. Morse, “Systematic design of adaptive controllers for feedback linearizable systems,” IEEE Transactions on Automatic Control, vol. 36, no. 11, pp. 1241–1252, 1991. [click]CrossRef MathSciNet MATH
  [2]X. Ye, “Adaptive nonlinear output-feedback control with unknown high-frequency gain sign,” IEEE Transactions on Automatic Control, vol. 46, no. 1, pp. 112–115, 2001. [click]CrossRef MATH
  [3]S. S. Ge and J. Wang, “Robust adaptive tracking for time varying uncertain nonlinear systems with unknown control coefficients,” IEEE Transactions on Automatic Control, vol. 48, no. 8, pp. 1463–1469, 2003. [click]CrossRef MathSciNet
  [4]T. P. Zhang and S. S. Ge, “Adaptive neural control of MIMO nonlinear state time-varying delay systems with unknown dead-zones and gain signs,” Automatica, vol. 43, no. 6, pp. 1021–1033, 2007. [click]CrossRef MathSciNet MATH
  [5]C. Hua, Q. Wang, and X. Guan, “Adaptvie fuzzy outputfeedback controller design for nonlinear time-delay systems with unknown control direction,” IEEE Transactions on Systmes, Man, and Cybernetics-Part B: Cybernetics, vol. 39, no. 2, pp. 363–374, 2009. [click]CrossRef
  [6]X.-H. Chang, Ju H. Park, and J. Zhou, “Robust static output feedback control design for linear systems with polytopic uncertainties,” Systems & Control Letters, vol. 85, pp. 2332. 2015. [click]CrossRef MathSciNet
  [7]W. Chen, X. Li, W. Ren, and C. Wen, “Adaptive consensus of multi-agent systems with an unknown control directions based on a novel nussbaum-type function,” IEEE Transactions on Automatic Control, vol. 59, no. 7, pp. 1887–1892, 2014. [click]CrossRef MathSciNet
  [8]W. Chen, C. Wen, S. Hua, and C. Sun, “Distributed cooperative adaptive identification and control for a group of continuous-time systems with a cooperative PE condition via consensus,” IEEE Transactions on Automatic Control, vol. 59, no. 1, pp. 91–106, 2014. [click]CrossRef MathSciNet
  [9]H. Shen, Ju H. Park, L. Zhang, and Z. Wu, “Robust extended dissipative control for sampled-data Markov jump systems,” International Journal of Control, vol. 87, no. 8, pp. 1549–1564, 2014. [click]CrossRef MathSciNet
  [10]H. Shen, Ju H. Park, and Z. Wu, “Reliable mixed passive and H ∞ fltering for semi-Markov jump systems with randomly occurring uncertainties and sensor failures,” International Journal of Robust and Nonlinear Control, vol. 25, no. 17, pp. 3231–3251, 2015. [click]CrossRef MathSciNet
  [11]M. Krstic, I. Kanellakopoulos, and P. V. Kokotovic, Nonlinear and Adaptive Control Design, Wiley, New York, 1995.
  [12]P. A. Ioannou and J. Sun, Robust Adaptive Control, Prentice-Hall, New Jersey, 1996.MATH
  [13]Z. P. Jiang and L. Praly, “Iterative designs of adaptive controllers for systems with nonlinear integrators,” Proceedings of the 30th IEEE Conference on Decision and Control, pp. 2482–2487, 1991. [click]
  [14]M. Krstic, I. Kanellakopoulos, and P. V. Kokotovic, “Adaptive nonlinear control without overparametrization,” Systems & Control Letters, vol. 19, no. 3, pp. 177–185, 1992. [click]CrossRef MathSciNet MATH
  [15]M. Krstic, I. Kanellakopoulos, and P. V. Kokotovic, “Nonlinear design of adaptive controllers for linear systems,” IEEE Transactions on Automatic Control, vol. 39, no. 4, pp. 738–752, 1994. [click]CrossRef MathSciNet MATH
  [16]R. Marino and P. Tomei, “Global adaptive output-feedback control of nonlinear systems, Part I: linear parametrization,” IEEE Transactions on Automatic Control, vol. 38, no. 1, pp. 17–32, 1993. [click]CrossRef MathSciNet MATH
  [17]W. Chen, S. Hua, and S. S. Ge, “Consensus-based distributed cooperative learning control for a group of discrete-time nonlinear multi-agent systems using neurl networks,” Automatica, vol. 50, no. 9, pp. 2254–2268, 2014. [click]CrossRef MathSciNet MATH
  [18]S. Tong, B. Huo, and Y. Li, “Observer-based adaptive decentralized fuzzy fault-tolerant control of nonlinear largescale systems with actuator failures,” IEEE Transactions on Fuzzy Systems, vol. 22, no. 1, pp. 1–15, 2014. [click]CrossRef
  [19]W. He, Y. Chen, and Z. Yin, “Adaptive neural network control of an uncertain robot with full-state constraints,” IEEE Transactions on Cybernetics, in press, 2015. [click]
  [20]Z. Zhang, S. Xu, and B. Zhang, “Asymptotic tracking control of uncertain nonlinear systems with unknown actuator nonlinearity,” IEEE Transactions on Automatic Control, vol. 59, no. 5, pp. 1336–1341, 2014. [click]CrossRef
  [21]W. He, S. Zhang, and S. S. Ge, “Adaptive control of a flexible crane system with the boundary output constraint,” IEEE Transactions on Industrial Electronics, vol. 61, pp. 4126–4133, 2014. [click]CrossRef
  
• 作者单位：Maoli Wang (1) (2)
  Zhengqiang Zhang (3)
  Yanmei Liu (4)
  
  1. Shandong Computer Science Center (National Supercomputer Center in Jinan) and with the Shandong Provincial Key Laboratory of Computer Networks, Jinan, 250014, China
  2. School of Electrical Engineering, Shandong University, Jinan, 250061, China
  3. School of Engineering, Qufu Normal University, Rizhao, 276826, China
  4. School of Automation, Shenyang Aerospace University, Shenyang, 110136, China
  
• 刊物类别：Engineering
• 刊物主题：Control Engineering
  
• 出版者：The Institute of Control, Robotics and Systems Engineers and The Korean Institute of Electrical Engi
• ISSN：2005-4092

文摘

In this paper, we present a new adaptive backstepping control design method to solve the overparametrization problem in parameter estimation. Unlike the existing schemes, the concept of tuning functions is not introduced. However, the number of parameter estimates is reduced to be minimal, which is exactly the same as that of unknown parameters. Subsequently, it is shown that the proposed control schemes are equivalent to the tuning functions design. Two class of common nonlinear systems, that is, parametric strict-feedback system and parametric output-feedback system are employed to illustrate our design procedure. Keywords Adaptive control nonlinear systems tuning functions