This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problemfor a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuatorfaults. ...This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problemfor a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuatorfaults. The UWMR system includes unknown nonlinear dynamics and immeasurable states. Fuzzy logic systems(FLSs) are utilized to work out immeasurable functions. Furthermore, with the support of the backsteppingcontrol technique and adaptive fuzzy state observer, a fuzzy adaptive finite-time output-feedback FTC scheme isdeveloped under the intermittent actuator faults. It is testifying the scheme can ensure the controlled nonlinearUWMRs is stable and the estimation errors are convergent. Finally, the comparison results and simulationvalidate the effectiveness of the proposed fuzzy adaptive finite-time FTC approach.展开更多
A novel adaptive neural network （NN） output-feedback regulation algorithm for a class of nonlinear time-varying timedelay systems is proposed. Both the designed observer and controller are independent of time delay....A novel adaptive neural network （NN） output-feedback regulation algorithm for a class of nonlinear time-varying timedelay systems is proposed. Both the designed observer and controller are independent of time delay. Different from the existing results, where the upper bounding functions of time-delay terms are assumed to be known, we only use an NN to compensate for all unknown upper bounding functions without that assumption. The proposed design method is proved to be able to guarantee semi-global uniform ultimate boundedness of all the signals in the closed system, and the system output is proved to converge to a small neighborhood of the origin. The simulation results verify the effectiveness of the control scheme.展开更多
In this paper, an output-feedback tracking controller is proposed for a class of nonlinear non-minimum phase systems.To keep the unstable internal dynamics bounded, the method of output redefinition is applied to let ...In this paper, an output-feedback tracking controller is proposed for a class of nonlinear non-minimum phase systems.To keep the unstable internal dynamics bounded, the method of output redefinition is applied to let the stability of the internal dynamics depend on that of redefined output, thus we only need to consider the new external dynamics rather than internal dynamics in the process of designing control law. To overcome the explosion of complexity problem in traditional backstepping design, the dynamic surface control(DSC) method is firstly used to deal with the problem of tracking control for the nonlinear non-minimum phase systems. The proposed outputfeedback DSC controller not only forces the system output to asymptotically track the desired trajectory, but also drives the unstable internal dynamics to follow its corresponding bounded and causal ideal internal dynamics, which is solved via stable system center method. Simulation results illustrate the validity of the proposed output-feedback DSC controller.展开更多
In this paper, the output tracking control is investigated for a class of nonlinear systems when only output is available for feedback. Based on the multivariable analog of circle criterion, an observer is first intro...In this paper, the output tracking control is investigated for a class of nonlinear systems when only output is available for feedback. Based on the multivariable analog of circle criterion, an observer is first introduced. Then, the observer-based output tracking controller is constructively designed by using the integral backstepping approach together with completing square. It is shown that, under relatively mild conditions, all the closed-loop signals are uniformly bounded. Meanwhile the system output asymptotically tracks the desired output. A simulation example is given to illustrate the effectiveness of the theoretical results.展开更多
An adaptive neural network output-feedback regulation approach is proposed for a class of multi-input-multi-output nonlinear time-varying delayed systems.Both the designed observer and controller are free from time de...An adaptive neural network output-feedback regulation approach is proposed for a class of multi-input-multi-output nonlinear time-varying delayed systems.Both the designed observer and controller are free from time delays.Different from the existing results,this paper need not the assumption that the upper bounding functions of time-delay terms are known,and only a neural network is employed to compensate for all the upper bounding functions of time-delay terms,so the designed controller procedure is more simplified.In addition,the resulting closed-loop system is proved to be semi-globally ultimately uniformly bounded,and the output regulation error converges to a small residual set around the origin.Two simulation examples are provided to verify the effectiveness of control scheme.展开更多
For the first time, an adaptive backstepping neural network control approach is extended to a class of stochastic non- linear output-feedback systems. Different from the existing results, the nonlinear terms are assum...For the first time, an adaptive backstepping neural network control approach is extended to a class of stochastic non- linear output-feedback systems. Different from the existing results, the nonlinear terms are assumed to be completely unknown and only a neural network is employed to compensate for all unknown nonlinear functions so that the controller design is more simplified. Based on stochastic LaSalle theorem, the resulted closed-loop system is proved to be globally asymptotically stable in probability. The simulation results further verify the effectiveness of the control scheme.展开更多
The back-stepping designs based on confine functions are suggested for the robust output-feedback global stabilization of a class of nonlinear continuous systems; the proposed stabilizer is efficient for the nonlinear...The back-stepping designs based on confine functions are suggested for the robust output-feedback global stabilization of a class of nonlinear continuous systems; the proposed stabilizer is efficient for the nonlinear continuous systems confined by a bound function, the nonlinearities of the systems may be of varied forms or uncertain; the designed stabilizer is robust means that a class of nonlinear continuous systems can be stabilized by the same output feedback stabilization schemes; numerical simulation examples are given.展开更多
The output-feedback stabilization control problem is investigated for a class of nonlinear uncertain systems. Based on the multivariable analog of circle criterion, an observer is designed to estimate the system state...The output-feedback stabilization control problem is investigated for a class of nonlinear uncertain systems. Based on the multivariable analog of circle criterion, an observer is designed to estimate the system states and hence the dynamical equations that the estimation error satisfies are derived first. Then, by using integral backstepping approach together with completing square technique, the output-feedback stabilization control is constructively designed such that the closed-loop system is asymptotically stable. Finally, an example is given to illustrate the main results of this paper.展开更多
This paper concerns ultimately bounded output-feedback control problems for networked systems with unknown nonlinear dynamics. Sensor-to-observer signal transmission is facilitated over networks that has communication...This paper concerns ultimately bounded output-feedback control problems for networked systems with unknown nonlinear dynamics. Sensor-to-observer signal transmission is facilitated over networks that has communication constraints.These transmissions are carried out over an unreliable communication channel. In order to enhance the utilization rate of measurement data, a buffer-aided strategy is novelly employed to store historical measurements when communication networks are inaccessible. Using the neural network technique, a novel observer-based controller is introduced to address effects of signal transmission behaviors and unknown nonlinear dynamics.Through the application of stochastic analysis and Lyapunov stability, a joint framework is constructed for analyzing resultant system performance under the introduced controller. Subsequently, existence conditions for the desired output-feedback controller are delineated. The required parameters for the observerbased controller are then determined by resolving some specific matrix inequalities. Finally, a simulation example is showcased to confirm method efficacy.展开更多
基金the National Natural Science Foundation of China under Grant U22A2043.
文摘This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problemfor a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuatorfaults. The UWMR system includes unknown nonlinear dynamics and immeasurable states. Fuzzy logic systems(FLSs) are utilized to work out immeasurable functions. Furthermore, with the support of the backsteppingcontrol technique and adaptive fuzzy state observer, a fuzzy adaptive finite-time output-feedback FTC scheme isdeveloped under the intermittent actuator faults. It is testifying the scheme can ensure the controlled nonlinearUWMRs is stable and the estimation errors are convergent. Finally, the comparison results and simulationvalidate the effectiveness of the proposed fuzzy adaptive finite-time FTC approach.
基金This work was supported by National Natural Science Foundation of China(NSFC)(No.60374015).
文摘A novel adaptive neural network （NN） output-feedback regulation algorithm for a class of nonlinear time-varying timedelay systems is proposed. Both the designed observer and controller are independent of time delay. Different from the existing results, where the upper bounding functions of time-delay terms are assumed to be known, we only use an NN to compensate for all unknown upper bounding functions without that assumption. The proposed design method is proved to be able to guarantee semi-global uniform ultimate boundedness of all the signals in the closed system, and the system output is proved to converge to a small neighborhood of the origin. The simulation results verify the effectiveness of the control scheme.
基金supported by National Natural Science Foundation of China(61403013)the Aero-Science Foundation of China(2015ZA51009)
文摘In this paper, an output-feedback tracking controller is proposed for a class of nonlinear non-minimum phase systems.To keep the unstable internal dynamics bounded, the method of output redefinition is applied to let the stability of the internal dynamics depend on that of redefined output, thus we only need to consider the new external dynamics rather than internal dynamics in the process of designing control law. To overcome the explosion of complexity problem in traditional backstepping design, the dynamic surface control(DSC) method is firstly used to deal with the problem of tracking control for the nonlinear non-minimum phase systems. The proposed outputfeedback DSC controller not only forces the system output to asymptotically track the desired trajectory, but also drives the unstable internal dynamics to follow its corresponding bounded and causal ideal internal dynamics, which is solved via stable system center method. Simulation results illustrate the validity of the proposed output-feedback DSC controller.
基金This work was supported by the National Natural Science Foundation of China(No.60304002), and the Science and Technical Development Plan ofShandong Province(No.2004GG4204014).
文摘In this paper, the output tracking control is investigated for a class of nonlinear systems when only output is available for feedback. Based on the multivariable analog of circle criterion, an observer is first introduced. Then, the observer-based output tracking controller is constructively designed by using the integral backstepping approach together with completing square. It is shown that, under relatively mild conditions, all the closed-loop signals are uniformly bounded. Meanwhile the system output asymptotically tracks the desired output. A simulation example is given to illustrate the effectiveness of the theoretical results.
基金supported by the National Natural Science Foundation of China (60804021)the Fundamental Research Funds for the Central Universities (JY10000970001)
文摘An adaptive neural network output-feedback regulation approach is proposed for a class of multi-input-multi-output nonlinear time-varying delayed systems.Both the designed observer and controller are free from time delays.Different from the existing results,this paper need not the assumption that the upper bounding functions of time-delay terms are known,and only a neural network is employed to compensate for all the upper bounding functions of time-delay terms,so the designed controller procedure is more simplified.In addition,the resulting closed-loop system is proved to be semi-globally ultimately uniformly bounded,and the output regulation error converges to a small residual set around the origin.Two simulation examples are provided to verify the effectiveness of control scheme.
基金supported by the National Natural Science Foundation of China (60804021)
文摘For the first time, an adaptive backstepping neural network control approach is extended to a class of stochastic non- linear output-feedback systems. Different from the existing results, the nonlinear terms are assumed to be completely unknown and only a neural network is employed to compensate for all unknown nonlinear functions so that the controller design is more simplified. Based on stochastic LaSalle theorem, the resulted closed-loop system is proved to be globally asymptotically stable in probability. The simulation results further verify the effectiveness of the control scheme.
基金This project was supported by the National Natural Science Foundation of China(69974017 60274020 60128303)
文摘The back-stepping designs based on confine functions are suggested for the robust output-feedback global stabilization of a class of nonlinear continuous systems; the proposed stabilizer is efficient for the nonlinear continuous systems confined by a bound function, the nonlinearities of the systems may be of varied forms or uncertain; the designed stabilizer is robust means that a class of nonlinear continuous systems can be stabilized by the same output feedback stabilization schemes; numerical simulation examples are given.
基金Supported by National Natural Science Foundation of China(60374002,60674036)the Science and Technical Development Plan of Shandong Province (2004GG4204014)the Program for New Century Excellent Talents in University of China
基金Supported by National Natural Science Foundation of China （60674036）, the Science and Technical Development Plan of Shandong Province （2004GG4204014）, the Program for New Century Excellent Talents in University of China （NCET-07-0513）, the Key Science and Technique Foundation of Ministry of Education of China （108079）, and the Excellent Young and Middle-aged Scientist Award of Shandong Province of China （2007BS01010）
基金Supported by National Natural Science Foundation of P. R. China (60304002)the Science and Technology Development Plan of Shandong Province (2004GG4204014)
文摘The output-feedback stabilization control problem is investigated for a class of nonlinear uncertain systems. Based on the multivariable analog of circle criterion, an observer is designed to estimate the system states and hence the dynamical equations that the estimation error satisfies are derived first. Then, by using integral backstepping approach together with completing square technique, the output-feedback stabilization control is constructively designed such that the closed-loop system is asymptotically stable. Finally, an example is given to illustrate the main results of this paper.
基金Supported by National Natural Science Foundation of China（60774010 10971256） Natural Science Foundation of Jiangsu Province（BK2009083）+1 种基金 Program for Fundamental Research of Natural Sciences in Universities of Jiangsu Province（07KJB510114） Shandong Provincial Natural Science Foundation of China（ZR2009GM008 ZR2009AL014）
基金National Natural Science Foundation of China （60674036, 60974003）, the Natural Science Foundation for Distinguished Young Scholar of Shandong Province of China （JQ200919）, the Program for New Century Excellent Talents in University of China （NCET-07-0513）, the Key Science and Technique Foundation of Ministry of Education of China （108079）, the Excellent Young and Middle-Aged Scientist Award Grant of Shandong Province of China （2007BS01010）
基金Supported by National Natural Science Foundations of China （61325016, 61273084, 61233014）, Natural Science Foundation for Distinguished Young Scholar of Shandong Province of China （JQ200919）, and the Independent Innovation Foundation of Shan- dong University （2012JC014）
基金supported in part by the National Natural Science Foundation of China (61933007,62273087,U22A2044,61973102,62073180)the Shanghai Pujiang Program of China (22PJ1400400)+1 种基金the Royal Society of the UKthe Alexander von Humboldt Foundation of Germany。
文摘This paper concerns ultimately bounded output-feedback control problems for networked systems with unknown nonlinear dynamics. Sensor-to-observer signal transmission is facilitated over networks that has communication constraints.These transmissions are carried out over an unreliable communication channel. In order to enhance the utilization rate of measurement data, a buffer-aided strategy is novelly employed to store historical measurements when communication networks are inaccessible. Using the neural network technique, a novel observer-based controller is introduced to address effects of signal transmission behaviors and unknown nonlinear dynamics.Through the application of stochastic analysis and Lyapunov stability, a joint framework is constructed for analyzing resultant system performance under the introduced controller. Subsequently, existence conditions for the desired output-feedback controller are delineated. The required parameters for the observerbased controller are then determined by resolving some specific matrix inequalities. Finally, a simulation example is showcased to confirm method efficacy.
