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- Title
Output feedback adaptive RISE control for uncertain nonlinear systems.
- Authors
Yang, Guichao; Zhu, Tao; Yang, Fengbo; Cui, Longfei; Wang, Hua
- Abstract
In this article, committed to extending the robust integral of the sign of the error (RISE) feedback control to the working condition of output feedback, a novel output feedback controller with a continuously bounded control input which combines the adaptive control and integral robust feedback will be proposed for trajectory tracking of a family of nonlinear systems subject to modeling uncertainties. A novel adaptive state observer (ASO) with disturbance rejection performance is creatively constructed to derive real‐time estimation of the unmeasured state signals. Moreover, a projection‐type adaption law is integrated to handle parameter uncertainties and an integral robust term is employed to deal with external disturbances. It is shown that asymptotic estimation performance and meanwhile asymptotic tracking result can eventually be derived. Simulation validations are implemented to demonstrate the high tracking performance of the presented controller. Notably, the synthesized control algorithm can be readily extended to the Euler–Lagrange systems. Typically, it can be extended to practical electromechanical equipment such as three‐dimensional vector forming robots to improve the real‐time forming accuracy.
- Subjects
NONLINEAR systems; UNCERTAIN systems; ADAPTIVE control systems; EULER-Lagrange system; ADAPTIVE fuzzy control; ROBUST control; NONLINEAR control theory
- Publication
Asian Journal of Control, 2023, Vol 25, Issue 1, p433
- ISSN
1561-8625
- Publication type
Article
- DOI
10.1002/asjc.2793