Filtering adaptive output feedback control for multivariable nonlinear systems with mismatched uncertainties and unmodeled dynamics

Ma, Tong

doi:10.1002/rnc.5212

Title: Filtering adaptive output feedback control for multivariable nonlinear systems with mismatched uncertainties and unmodeled dynamics

Journal Article · Tue Dec 01 00:00:00 EST 2020 · International Journal of Robust and Nonlinear Control

DOI:https://doi.org/10.1002/rnc.5212· OSTI ID:1771102

Ma, Tong ^[1]

BATTELLE (PACIFIC NW LAB)

This article synthesizes a filtering adaptive output feedback controller for multivariable nonlinear systems with mismatched uncertainties and unmodeled dynamics. The multivariable nonlinear systems under consideration have both matched and mismatched uncertainties, which satisfy the semiglobal Lipschitz condition. The unmodeled dynamics are bounded-input bounded-output stable. By adopting an estimation/cancellation strategy, a piecewise constant adaptive law drives the estimation error to zero at every time instant, which yields the adaptive parameters; a disturbance rejection control law is designed to compensate the nonlinear uncertainties within the bandwidth of low-pass filters. The matched uncertainties are cancelled directly by adopting their opposite in the control signal, while a dynamic inversion of the system is required to eliminate the effect of the mismatched uncertainties on the output. A feedforward control law is designed to track a given command. Since the virtual reference system defines the best performance that can be achieved by the closed-loop system, the uniform performance bounds are derived for the states and control signals via comparison. Both numerical and practical examples are provided to illustrate the effectiveness of the proposed filtering adaptive output feedback control architecture, comparisons with the model reference adaptive control demonstrates the superiority of the proposed control method.

Cite

Export

Save

Research Organization:: Pacific Northwest National Lab. (PNNL), Richland, WA (United States)

Sponsoring Organization:: USDOE

DOE Contract Number:: AC05-76RL01830

OSTI ID:: 1771102

Report Number(s):: PNNL-SA-160529

Journal Information:: International Journal of Robust and Nonlinear Control, Vol. 30, Issue 18

Country of Publication:: United States

Language:: English

References (39)

Global adaptive output-feedback control of nonlinear systems. I. Linear parameterization Marino, R.; Tomei, P. IEEE Transactions on Automatic Control, Vol. 38, Issue 1 https://doi.org/10.1109/9.186309	journal	January 1993
Adaptive output feedback control of nonlinear systems represented by input-output models Khalil, H. K. IEEE Transactions on Automatic Control, Vol. 41, Issue 2 https://doi.org/10.1109/9.481517	journal	January 1996
An adaptive high-gain observer for nonlinear systems Boizot, Nicolas; Busvelle, Eric; Gauthier, Jean-Paul Automatica, Vol. 46, Issue 9 https://doi.org/10.1016/j.automatica.2010.06.004	journal	September 2010
Control of nonlinear systems using filtered high-gain observer Ma, Tong; Che, Jiaxing; Cao, Chengyu 2016 International Symposium on Flexible Automation (ISFA) https://doi.org/10.1109/ISFA.2016.7790210	conference	August 2016
Handling of nonlinear systems using filtered high-gain output feedback controller Ma, Tong; Liu, Yuqian; Shih, Cyuansi International Journal of Robust and Nonlinear Control, Vol. 28, Issue 18 https://doi.org/10.1002/rnc.4360	journal	October 2018
How to design a fuzzy adaptive controller based on observers for uncertain affine nonlinear systems Boulkroune, A.; Tadjine, M.; M’Saad, M. Fuzzy Sets and Systems, Vol. 159, Issue 8 https://doi.org/10.1016/j.fss.2007.08.015	journal	April 2008
Observer-based hybrid adaptive fuzzy control for affine and nonaffine uncertain nonlinear systems Fallah Ghavidel, Hesam; Akbarzadeh Kalat, Ali Neural Computing and Applications, Vol. 30, Issue 4 https://doi.org/10.1007/s00521-016-2732-7	journal	December 2016
Observer-based adaptive fuzzy tracking control for a class of uncertain nonlinear MIMO systems Liu, Yan-Jun; Tong, Shao-Cheng; Li, Tie-Shan Fuzzy Sets and Systems, Vol. 164, Issue 1 https://doi.org/10.1016/j.fss.2010.09.002	journal	February 2011
Observer-based fuzzy adaptive control for strict-feedback nonlinear systems Tong, Shaocheng; Li, Yongming Fuzzy Sets and Systems, Vol. 160, Issue 12 https://doi.org/10.1016/j.fss.2008.09.004	journal	June 2009
Observer-based decentralized adaptive control for large-scale pure-feedback systems with unknown time-delayed nonlinear interactions: Observer-based decentralized adaptive control Yoo, Sung Jin International Journal of Robust and Nonlinear Control, Vol. 25, Issue 8 https://doi.org/10.1002/rnc.3084	journal	October 2013
Neural-Based Adaptive Output-Feedback Control for a Class of Nonstrict-Feedback Stochastic Nonlinear Systems Wang, Huanqing; Liu, Kefu; Liu, Xiaoping IEEE Transactions on Cybernetics, Vol. 45, Issue 9 https://doi.org/10.1109/TCYB.2014.2363073	journal	September 2015
Observer and Command-Filter-Based Adaptive Fuzzy Output Feedback Control of Uncertain Nonlinear Systems Yu, Jinpeng; Shi, Peng; Dong, Wenjie IEEE Transactions on Industrial Electronics, Vol. 62, Issue 9 https://doi.org/10.1109/TIE.2015.2418317	journal	September 2015
Adaptive Neural Output Feedback Control of Uncertain Nonlinear Systems With Unknown Hysteresis Using Disturbance Observer Chen, Mou; Ge, Shuzhi Sam IEEE Transactions on Industrial Electronics, Vol. 62, Issue 12 https://doi.org/10.1109/TIE.2015.2455053	journal	December 2015
Neural-Based Decentralized Adaptive Finite-Time Control for Nonlinear Large-Scale Systems With Time-Varying Output Constraints Du, Peihao; Liang, Hongjing; Zhao, Shiyi IEEE Transactions on Systems, Man, and Cybernetics: Systems https://doi.org/10.1109/TSMC.2019.2918351	journal	January 2019
Barrier Lyapunov Functions for the control of output-constrained nonlinear systems Tee, Keng Peng; Ge, Shuzhi Sam; Tay, Eng Hock Automatica, Vol. 45, Issue 4 https://doi.org/10.1016/j.automatica.2008.11.017	journal	April 2009
Adaptive Controller Design-Based ABLF for a Class of Nonlinear Time-Varying State Constraint Systems Liu, Yan-Jun; Lu, Shumin; Li, Dongjuan IEEE Transactions on Systems, Man, and Cybernetics: Systems, Vol. 47, Issue 7 https://doi.org/10.1109/TSMC.2016.2633007	journal	July 2017
Adaptive backstepping neural control of state-delayed nonlinear systems with full-state constraints and unmodeled dynamics: Adaptive backstepping neural control of state-delayed nonlinear systems with full-state constraints and unmodeled dynamics Zhang, Tianping; Xia, Meizhen; Zhu, Jiaming International Journal of Adaptive Control and Signal Processing, Vol. 31, Issue 11 https://doi.org/10.1002/acs.2795	journal	June 2017
Adaptive output feedback control for a class of nonlinear systems with full-state constraints Liu, Yan-Jun; Li, Dong-Juan; Tong, Shaocheng International Journal of Control, Vol. 87, Issue 2 https://doi.org/10.1080/00207179.2013.828854	journal	September 2013
Adaptive control-based Barrier Lyapunov Functions for a class of stochastic nonlinear systems with full state constraints Liu, Yan-Jun; Lu, Shumin; Tong, Shaocheng Automatica, Vol. 87 https://doi.org/10.1016/j.automatica.2017.07.028	journal	January 2018
Adaptive Fuzzy Observer Design for a Class of Switched Nonlinear Systems With Actuator and Sensor Faults Fu, Shasha; Qiu, Jianbin; Chen, Liheng IEEE Transactions on Fuzzy Systems, Vol. 26, Issue 6 https://doi.org/10.1109/TFUZZ.2018.2848253	journal	December 2018
Observer-Based Adaptive Fuzzy Fault-Tolerant Optimal Control for SISO Nonlinear Systems Li, Yongming; Sun, Kangkang; Tong, Shaocheng IEEE Transactions on Cybernetics, Vol. 49, Issue 2 https://doi.org/10.1109/TCYB.2017.2785801	journal	February 2019
Observer-Based Adaptive Fuzzy Fault-Tolerant Control for Stochastic Nonstrict-Feedback Nonlinear Systems With Input Quantization Ma, Hui; Zhou, Qi; Bai, Lu IEEE Transactions on Systems, Man, and Cybernetics: Systems, Vol. 49, Issue 2 https://doi.org/10.1109/TSMC.2018.2833872	journal	February 2019
Observer-Based Composite Adaptive Fuzzy Control for Nonstrict-Feedback Systems With Actuator Failures Wang, Lijie; Basin, Michael V.; Li, Hongyi IEEE Transactions on Fuzzy Systems, Vol. 26, Issue 4 https://doi.org/10.1109/TFUZZ.2017.2774185	journal	August 2018
Containment Control of Semi-Markovian Multiagent Systems With Switching Topologies Liang, Hongjing; Zhang, Linchuang; Sun, Yonghui IEEE Transactions on Systems, Man, and Cybernetics: Systems https://doi.org/10.1109/TSMC.2019.2946248	journal	January 2019
Observer-Based Adaptive Fuzzy Containment Control for Multiple Uncertain Nonlinear Systems Wang, Wei; Tong, Shaocheng IEEE Transactions on Fuzzy Systems, Vol. 27, Issue 11 https://doi.org/10.1109/TFUZZ.2019.2893339	journal	November 2019
Adaptive Neural Network Output Feedback Control for Stochastic Nonlinear Systems With Unknown Dead-Zone and Unmodeled Dynamics Tong, Shaocheng; Wang, Tong; Li, Yongming IEEE Transactions on Cybernetics, Vol. 44, Issue 6 https://doi.org/10.1109/TCYB.2013.2276043	journal	June 2014
Adaptive Fuzzy Control of Strict-Feedback Nonlinear Time-Delay Systems With Unmodeled Dynamics Yin, Shen; Shi, Peng; Yang, Hongyan IEEE Transactions on Cybernetics, Vol. 46, Issue 8 https://doi.org/10.1109/TCYB.2015.2457894	journal	August 2016
Adaptive Fuzzy Control via Observer Design for Uncertain Nonlinear Systems With Unmodeled Dynamics Liu, Yan-Jun; Tong, Shaocheng; Chen, C. L. Philip IEEE Transactions on Fuzzy Systems, Vol. 21, Issue 2 https://doi.org/10.1109/TFUZZ.2012.2212200	journal	April 2013
Fuzzy Adaptive Actuator Failure Compensation Control of Uncertain Stochastic Nonlinear Systems With Unmodeled Dynamics Tong, Shaocheng; Wang, Tong; Li, Yongming IEEE Transactions on Fuzzy Systems, Vol. 22, Issue 3 https://doi.org/10.1109/TFUZZ.2013.2264939	journal	June 2014
Adaptive Fuzzy Decentralized Control for a Class of Strong Interconnected Nonlinear Systems With Unmodeled Dynamics Wang, Huanqing; Liu, Wenxin; Qiu, Jianbin IEEE Transactions on Fuzzy Systems, Vol. 26, Issue 2 https://doi.org/10.1109/TFUZZ.2017.2694799	journal	April 2018
Adaptive Fuzzy Control for Nonstrict Feedback Systems With Unmodeled Dynamics and Fuzzy Dead Zone via Output Feedback Wang, Lijie; Li, Hongyi; Zhou, Qi IEEE Transactions on Cybernetics, Vol. 47, Issue 9 https://doi.org/10.1109/TCYB.2017.2684131	journal	September 2017
Adaptive Fuzzy Control of Nonlinear Systems With Unmodeled Dynamics and Input Saturation Using Small-Gain Approach Zhou, Qi; Li, Hongyi; Wu, Chengwei IEEE Transactions on Systems, Man, and Cybernetics: Systems, Vol. 47, Issue 8 https://doi.org/10.1109/TSMC.2016.2586108	journal	August 2017
Robust Model Predictive Control of Nonlinear Systems With Unmodeled Dynamics and Bounded Uncertainties Based on Neural Networks Yan, Zheng; Wang, Jun IEEE Transactions on Neural Networks and Learning Systems, Vol. 25, Issue 3 https://doi.org/10.1109/TNNLS.2013.2275948	journal	March 2014
Filtering adaptive tracking controller for multivariable nonlinear systems subject to constraints using online optimization method Ma, Tong Automatica, Vol. 113 https://doi.org/10.1016/j.automatica.2019.108689	journal	March 2020
Eigenvalue assignment enabled control law for multivariable nonlinear systems with mismatched uncertainties Ma, Tong European Journal of Control, Vol. 56 https://doi.org/10.1016/j.ejcon.2020.03.002	journal	November 2020
L ₁ adaptive output‐feedback control of multivariable nonlinear systems subject to constraints using online optimization Ma, Tong; Cao, Chengyu International Journal of Robust and Nonlinear Control https://doi.org/10.1002/rnc.4597	journal	May 2019
L ₁ adaptive output‐feedback descriptor for multivariable nonlinear systems with measurement noises Ma, Tong; Cao, Chengyu International Journal of Robust and Nonlinear Control https://doi.org/10.1002/rnc.4598	journal	June 2019
L1 Adaptive Control Design for NASA AirSTAR Flight Test Vehicle Gregory, Irene; Cao, Chengyu; Xargay, Enric AIAA Guidance, Navigation, and Control Conference https://doi.org/10.2514/6.2009-5738	conference	August 2009
Filter Design for Feedback-loop Trade-off of L_1 Adaptive Controller: A Linear Matrix Inequality Approach Li, Dapeng; Hovakimyan, Naira; Cao, Chengyu AIAA Guidance, Navigation and Control Conference and Exhibit https://doi.org/10.2514/6.2008-6280	conference	August 2008

Similar Records

Decentralized Filtering Adaptive Neural Network Control for Uncertain Switched Interconnected Nonlinear Systems

Journal Article · Mon Nov 01 00:00:00 EDT 2021 · IEEE Transactions on Neural Networks and Learning Systems · OSTI ID:1771102

Ma, Tong

A Robust Multivariable Feedforward/Feedback Controller Design for Integrated Power Control of Boiling Water Reactor Power Plants

Journal Article · Fri Nov 15 00:00:00 EST 2002 · Nuclear Technology · OSTI ID:1771102

Shyu, S -S; Edwards, Robert M

Experiments on rigid body-based controllers with input preshaping for a two-link flexible manipulator

Journal Article · Tue Feb 01 00:00:00 EST 1994 · IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States) · OSTI ID:1771102

Khorrami, F; Jain, S; Tzes, A

Related Subjects

filtering adaptive control
mismatched uncertainities
nonlinear
output feedback
unmodeled dynamics

Title: Filtering adaptive output feedback control for multivariable nonlinear systems with mismatched uncertainties and unmodeled dynamics

Citation Formats

References (39)

Similar Records

Related Subjects