Localized adaptive bounds for uncertain MIMO nonlinear system

Guo Jun; Hou Jian; Wang Rongchun; Wu Hui; Liu Dong

doi:10.1109/CGNCC.2014.7007290

Localized adaptive bounds for uncertain MIMO nonlinear system

Guo Jun
, Hou Jian
, Wang Rongchun
, Wu Hui
, Liu Dong

China Aviation Industry Corporation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

A robust controller with localized adaptive bounds is proposed for a class of uncertain multiple-input-multiple-output nonlinear systems. Command filtered backstepping (CFBS) is used to design virtual control laws recursively. With spectral radius introduced into the control law, the assumption on nonsingularity of control coefficient matrix estimation is eliminated. Localized modification can overcome the parameter drift of standard σ-modification when states change and tracking errors are small. Adaptive bounding control is employed to compensate inherent approximation errors and external disturbances. It is proved that the proposed method can guarantee the boundedness of all signals in the closed-loop system theoretically. Simulation example demonstrates the effectiveness of the proposed method.

Original language	English
Title of host publication	2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	636-640
Number of pages	5
ISBN (Electronic)	9781479946990
DOIs	https://doi.org/10.1109/CGNCC.2014.7007290
State	Published - 12 Jan 2015
Externally published	Yes
Event	6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014 - Yantai, China Duration: 8 Aug 2014 → 10 Aug 2014

Publication series

Name	2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014

Conference

Conference	6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
Country/Territory	China
City	Yantai
Period	8/08/14 → 10/08/14

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10.1109/CGNCC.2014.7007290

Cite this

Jun, G., Jian, H., Rongchun, W., Hui, W., & Dong, L. (2015). Localized adaptive bounds for uncertain MIMO nonlinear system. In 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014 (pp. 636-640). Article 7007290 (2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CGNCC.2014.7007290

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title = "Localized adaptive bounds for uncertain MIMO nonlinear system",

abstract = "A robust controller with localized adaptive bounds is proposed for a class of uncertain multiple-input-multiple-output nonlinear systems. Command filtered backstepping (CFBS) is used to design virtual control laws recursively. With spectral radius introduced into the control law, the assumption on nonsingularity of control coefficient matrix estimation is eliminated. Localized modification can overcome the parameter drift of standard σ-modification when states change and tracking errors are small. Adaptive bounding control is employed to compensate inherent approximation errors and external disturbances. It is proved that the proposed method can guarantee the boundedness of all signals in the closed-loop system theoretically. Simulation example demonstrates the effectiveness of the proposed method.",

author = "Guo Jun and Hou Jian and Wang Rongchun and Wu Hui and Liu Dong",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014 ; Conference date: 08-08-2014 Through 10-08-2014",

year = "2015",

month = jan,

day = "12",

doi = "10.1109/CGNCC.2014.7007290",

language = "英语",

series = "2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014",

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Jun, G, Jian, H, Rongchun, W, Hui, W & Dong, L 2015, Localized adaptive bounds for uncertain MIMO nonlinear system. in 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014., 7007290, 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014, Institute of Electrical and Electronics Engineers Inc., pp. 636-640, 6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014, Yantai, China, 8/08/14. https://doi.org/10.1109/CGNCC.2014.7007290

Localized adaptive bounds for uncertain MIMO nonlinear system. / Jun, Guo; Jian, Hou; Rongchun, Wang et al.
2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014. Institute of Electrical and Electronics Engineers Inc., 2015. p. 636-640 7007290 (2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Jun, Guo

AU - Jian, Hou

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AU - Hui, Wu

AU - Dong, Liu

PY - 2015/1/12

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N2 - A robust controller with localized adaptive bounds is proposed for a class of uncertain multiple-input-multiple-output nonlinear systems. Command filtered backstepping (CFBS) is used to design virtual control laws recursively. With spectral radius introduced into the control law, the assumption on nonsingularity of control coefficient matrix estimation is eliminated. Localized modification can overcome the parameter drift of standard σ-modification when states change and tracking errors are small. Adaptive bounding control is employed to compensate inherent approximation errors and external disturbances. It is proved that the proposed method can guarantee the boundedness of all signals in the closed-loop system theoretically. Simulation example demonstrates the effectiveness of the proposed method.

AB - A robust controller with localized adaptive bounds is proposed for a class of uncertain multiple-input-multiple-output nonlinear systems. Command filtered backstepping (CFBS) is used to design virtual control laws recursively. With spectral radius introduced into the control law, the assumption on nonsingularity of control coefficient matrix estimation is eliminated. Localized modification can overcome the parameter drift of standard σ-modification when states change and tracking errors are small. Adaptive bounding control is employed to compensate inherent approximation errors and external disturbances. It is proved that the proposed method can guarantee the boundedness of all signals in the closed-loop system theoretically. Simulation example demonstrates the effectiveness of the proposed method.

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M3 - 会议稿件

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T3 - 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014

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BT - 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014

Y2 - 8 August 2014 through 10 August 2014

ER -

Jun G, Jian H, Rongchun W, Hui W, Dong L. Localized adaptive bounds for uncertain MIMO nonlinear system. In 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014. Institute of Electrical and Electronics Engineers Inc. 2015. p. 636-640. 7007290. (2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014). doi: 10.1109/CGNCC.2014.7007290

Localized adaptive bounds for uncertain MIMO nonlinear system

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