Academic Journal
Immersion and invariance adaptive control with sigma-modification for uncertain nonlinear systems
| العنوان: | Immersion and invariance adaptive control with sigma-modification for uncertain nonlinear systems |
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| المؤلفون: | Han, Chao, Liu, Zhen, Yi, Jianqiang |
| سنة النشر: | 2018 |
| المجموعة: | Institute of Automation: CASIA OpenIR (Chinese Academy of Sciences) / 中国科学院自动化研究所机构知识库 |
| مصطلحات موضوعية: | Immersion And Invariance Adaptive, Σ-modification, Uncertain Nonlinear System, Science & Technology, Technology, Physical Sciences, BREATHING HYPERSONIC VEHICLE, AERIAL VEHICLE, DESIGN, OBSERVER, MODEL, Automation & Control Systems, Engineering, Mathematics, Multidisciplinary, Electrical & Electronic, Interdisciplinary Applications |
| الوصف: | A novel adaptive control with sigma-modification for uncertain nonlinear systems is proposed in the paper. The application of conventional adaptive control is severely limited by the problems of construction of Lyapunov function and parameter drift because of non-parametric uncertainties. The proposed adaptive control that is on the basis of the immersion and invariance theory and s-modification can be used to deal with these problems to some extent. It turns out to be a structured design method without requiring a Lyapunov function in the design level and robust to non-parametric uncertainties. Moreover, constrained command filter backstepping is adopted to meet the amplitude and rate constraints on the states and actuators. The uniformly ultimately bounded stability of the closed-loop system has been analyzed by Lyapunov theory with parametric and non-parametric uncertainties of the controlled model. To demonstrate the design flexibility, the method is applied to the position tracking control system design of a mass-damper-spring system and the flight control system design of a scramjet-powered air-breathing hypersonic vehicle. Finally, the effectiveness of the proposed adaptive control method is illustrated by numerical simulations. (C) 2018 The Franklin Institute. Published by Elsevier Ltd. All rights reserved. |
| نوع الوثيقة: | article in journal/newspaper report |
| اللغة: | English |
| Relation: | JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS; Chao Han, Zhen Liu, Jianqiang Yi. Immersion and invariance adaptive control with σ-modification for uncertain nonlinear systems[J]. Journal of the Franklin Institute,2018,355(5):2091–2111.; http://ir.ia.ac.cn/handle/173211/21059 |
| DOI: | 10.1016/j.jfranklin.2017.12.006 |
| الاتاحة: | http://ir.ia.ac.cn/handle/173211/21059 https://doi.org/10.1016/j.jfranklin.2017.12.006 |
| رقم الانضمام: | edsbas.62861C73 |
| قاعدة البيانات: | BASE |
| DOI: | 10.1016/j.jfranklin.2017.12.006 |
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