This paper investigates the problem of adaptive practical tracking control by output feedback for a class of nonlinear systems in which the nonlinearities are restricted to be upper bounded by a constant plus a polyno...This paper investigates the problem of adaptive practical tracking control by output feedback for a class of nonlinear systems in which the nonlinearities are restricted to be upper bounded by a constant plus a polynomial function of the output multiplied by unmeasured states. To solve the problem, an observer with a dynamic high-gain is first introduced, and then an adaptive output feedback tracking controller is successfully designed using the universal control methodology. It is shown that all the states of the closed-loop system are bounded, and the tracking error can be made arbitrarily small by an appropriate choice of the design parameters after some large enough time. A simulation example is also provided to illustrate the correctness of the theoretical results.展开更多
This paper extends the unknown control coefficients with lower and upper constant bounds to the ones which may take arbitrarily large and /or small values.Since the existing methods are no longer applicable and the te...This paper extends the unknown control coefficients with lower and upper constant bounds to the ones which may take arbitrarily large and /or small values.Since the existing methods are no longer applicable and the technical obstacles caused by the extensions are essential,new control design scheme should be exploited to the global practical tracking.By the approaches of Nussbaum-gain and adding a power integrator,the authors successfully propose the design scheme of the adaptive practical tracking controller for the systems.It is shown that the designed controller guarantees that all the closed-loop system states are bounded and the tracking error becomes prescribed arbitrarily small after a finite time.展开更多
Focus is laid on the adaptive practical output-tracking problem of a class of nonlinear systems with high-order lower-triangular structure and uncontrollable unstable linearization. Using the modified adaptive additio...Focus is laid on the adaptive practical output-tracking problem of a class of nonlinear systems with high-order lower-triangular structure and uncontrollable unstable linearization. Using the modified adaptive addition of a power integrator technique as a basic tool, a new smooth adaptive state feedback controller is designed. This controller can ensure all signals of the closed-loop systems are globally bounded and output tracking error is arbitrary small.展开更多
In engineering practice,sensors commonly have limited sensitivity errors,which are allowed in the design process.This paper uses a sampled-data output feedback control method so that the problem of global tracking sta...In engineering practice,sensors commonly have limited sensitivity errors,which are allowed in the design process.This paper uses a sampled-data output feedback control method so that the problem of global tracking stabilisation of a class of nonlinear systems with unknown measurement sensitivity can be solved.A sampled-data output feedback control law and a sampled-data observer are constructed with the help of output feedback domination method.By choosing the domination gain and sampling period in place,the resultant control law can globally stabilise the system even under the influence of unknown measurement sensitivity.展开更多
This paper deals with the global practical tracking problem by output-feedback for a class of uncertain cascade systems with zero-dynamics and unmeasured states dependent growth.The systems investigated are substantia...This paper deals with the global practical tracking problem by output-feedback for a class of uncertain cascade systems with zero-dynamics and unmeasured states dependent growth.The systems investigated are substantially different from the closely related works,and have zero-dynamics,unknown growth rate,and unknown time-varying control coefficients.This makes the problem much more difficult to solve.Motivated by the authors' recent works,this paper proposes a new adaptive control scheme to achieve the global practical tracking.It is shown that the designed controller guarantees that the state of the resulting closed-loop system is globally bounded and the tracking error converges to a prescribed arbitrarily small neighborhood of the origin after a finite time.This is achieved by combining the methods of universal control and dead zone with backstepping technique,and using the framework of performance analysis in the closely related works.A numerical example demonstrates the effectiveness of the theoretical results.展开更多
This paper deals with the adaptive practical output maneuvering control problems for a class of nonlinear systems with uncontrollable unstable linearization. The objective is to design a smooth adaptive maneuvering co...This paper deals with the adaptive practical output maneuvering control problems for a class of nonlinear systems with uncontrollable unstable linearization. The objective is to design a smooth adaptive maneuvering controller to solve the geometric and dynamic tasks with an arbitrary small steady tracking error. The method of adding a power integrator and the robust recursive design technique are employed to force the system output to track a desired path and make the tracking speed to follow a desired speed along the path. An example is considered and simulation results are given. The proposed design procedure can be illustrated by the use of this example.展开更多
基金This research is supported by the National Natural Science Foundations of China under Grant Nos. 60674036 and 60974003, the Natural Science Foundation for Distinguished Young Scholar of Shandong Province of China under Grant No. JQ200919, the Program for New Century Excellent Talents in University of China under Grant No. NCET-07-0513, the Key Science and Technique Foundation of Ministry of Education of China under Grant No. 108079, and the Excellent Young and Middle-Aged Scientist Award Grant of Shandong Province of China under Grant No. 2007BS01010.
文摘This paper investigates the problem of adaptive practical tracking control by output feedback for a class of nonlinear systems in which the nonlinearities are restricted to be upper bounded by a constant plus a polynomial function of the output multiplied by unmeasured states. To solve the problem, an observer with a dynamic high-gain is first introduced, and then an adaptive output feedback tracking controller is successfully designed using the universal control methodology. It is shown that all the states of the closed-loop system are bounded, and the tracking error can be made arbitrarily small by an appropriate choice of the design parameters after some large enough time. A simulation example is also provided to illustrate the correctness of the theoretical results.
基金supported by the National Natural Science Foundations of China under Grant No.60974003 and 61143011the Natural Science Foundation for Distinguished Young Scholar of Shandong Province of China under Grant No.JQ200919+5 种基金the Program for New Century Excellent Talents in University of China under Grant No.NCET-07-0513the Key Science and Technique Foundation of Ministry of Education of China under Grant No.108079the Excellent Young and Middle-Aged Scientist Award Grant of Shandong Province of China under Grant No.2007BS01010the Independent Innovation Foundation of Shandong University under Grant No.2009JQ008the Scholarship Award for Excellent Doctoral Student granted by Ministry of Educationthe Graduate Independent Innovation Foundation of Shandong University
文摘This paper extends the unknown control coefficients with lower and upper constant bounds to the ones which may take arbitrarily large and /or small values.Since the existing methods are no longer applicable and the technical obstacles caused by the extensions are essential,new control design scheme should be exploited to the global practical tracking.By the approaches of Nussbaum-gain and adding a power integrator,the authors successfully propose the design scheme of the adaptive practical tracking controller for the systems.It is shown that the designed controller guarantees that all the closed-loop system states are bounded and the tracking error becomes prescribed arbitrarily small after a finite time.
基金This work was supported by the National Natural Sdence Foundation of China (No. 60304003)the National Sdence Foundation of Shandong Province (No. Q2002G02)
文摘Focus is laid on the adaptive practical output-tracking problem of a class of nonlinear systems with high-order lower-triangular structure and uncontrollable unstable linearization. Using the modified adaptive addition of a power integrator technique as a basic tool, a new smooth adaptive state feedback controller is designed. This controller can ensure all signals of the closed-loop systems are globally bounded and output tracking error is arbitrary small.
文摘In engineering practice,sensors commonly have limited sensitivity errors,which are allowed in the design process.This paper uses a sampled-data output feedback control method so that the problem of global tracking stabilisation of a class of nonlinear systems with unknown measurement sensitivity can be solved.A sampled-data output feedback control law and a sampled-data observer are constructed with the help of output feedback domination method.By choosing the domination gain and sampling period in place,the resultant control law can globally stabilise the system even under the influence of unknown measurement sensitivity.
基金supported by the National Natural Science Foundation of China under Grant Nos.61325016,61273084,61233014,and 61304013the Natural Science Foundation for Distinguished Young Scholar of Shandong Province of China under Grant No.JQ200919+1 种基金the Independent Innovation Foundation of Shandong University under Grant No.2012JC014the Doctoral Foundation of Jinan University under Grant No.XBS1413
文摘This paper deals with the global practical tracking problem by output-feedback for a class of uncertain cascade systems with zero-dynamics and unmeasured states dependent growth.The systems investigated are substantially different from the closely related works,and have zero-dynamics,unknown growth rate,and unknown time-varying control coefficients.This makes the problem much more difficult to solve.Motivated by the authors' recent works,this paper proposes a new adaptive control scheme to achieve the global practical tracking.It is shown that the designed controller guarantees that the state of the resulting closed-loop system is globally bounded and the tracking error converges to a prescribed arbitrarily small neighborhood of the origin after a finite time.This is achieved by combining the methods of universal control and dead zone with backstepping technique,and using the framework of performance analysis in the closely related works.A numerical example demonstrates the effectiveness of the theoretical results.
基金Supported by the National Natural Science Foundation of China （No. 60304003, 60574007, and 60574080）.
文摘This paper deals with the adaptive practical output maneuvering control problems for a class of nonlinear systems with uncontrollable unstable linearization. The objective is to design a smooth adaptive maneuvering controller to solve the geometric and dynamic tasks with an arbitrary small steady tracking error. The method of adding a power integrator and the robust recursive design technique are employed to force the system output to track a desired path and make the tracking speed to follow a desired speed along the path. An example is considered and simulation results are given. The proposed design procedure can be illustrated by the use of this example.
