Controller tuning is the correct setting of controller parameters to control complex dynamic systems appropriately and with high accuracy.Therefore,this study addressed the development of a method for tuning the headi...Controller tuning is the correct setting of controller parameters to control complex dynamic systems appropriately and with high accuracy.Therefore,this study addressed the development of a method for tuning the heading controller of an unmanned surface vehicle(USV)based on the backstepping integral technique to enhance the vehicle behavior while tracking a desired position for water monitoring missions.The vehicle self-steering system(autopilot system)is designed theoretically and tested via a simulation.Based on the Lyapunov theory,the stability in the closed-loop system is guaranteed,and the convergence of the heading tracking errors is obtained.In addition,the designed control law is implemented via a microcontroller and tested experimentally in real time.Conclusion,experimental results were carried out to verify the robustness of the designed controller when disturbances and uncertainties are introduced into the system.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
A controller design is proposed for a class of high order nonholonomic systems with nonlinear drifts. The purpose is to ensure a solution for the closed-loop system regulated to zero. Adding a power integrator backste...A controller design is proposed for a class of high order nonholonomic systems with nonlinear drifts. The purpose is to ensure a solution for the closed-loop system regulated to zero. Adding a power integrator backstepping technique and the switching control strategy are employed to design the controller. The state scaling is applied to the recursive manipulation. The simulation example demonstrates the effectiveness and robust features of the proposed method.展开更多
The aerial manipulator expands the scope of unmanned aerial vehicle(UAV)'s application as well as increases the di±culties in the design of the controller.To better control the aerial manipulator for di®...The aerial manipulator expands the scope of unmanned aerial vehicle(UAV)'s application as well as increases the di±culties in the design of the controller.To better control the aerial manipulator for di®erent trajectories tracking under di®erent conditions,a new dual-layer controller is designed in this paper.The integral backstepping sliding mode controller(IBSMC)is applied to the outer-loop controller and backstepping controller(BC)is applied to the innerloop controller.To improve the performance of the system,an improved pigeon-inspired optimization(PIO)algorithm called group coevolution and immigration pigeon-inspired optimization(GCIPIO)algorithm is proposed to optimize the controller parameters of IBSMC.GCIPIO algorithm utilizes the group coevolution and immigration mechanisms.A series of simulations are conducted to show the advantage of the proposed method.The results illustrate that the proposed method ensures the closed-loop system has less end-e®ector tracking error.展开更多
In this paper, we study the problem of output feedback stabilization for stochastic nonlin-ear systems. We consider a class of stochastic nonlinear systems in observer canonical form with sta-ble zero-dynamics. We int...In this paper, we study the problem of output feedback stabilization for stochastic nonlin-ear systems. We consider a class of stochastic nonlinear systems in observer canonical form with sta-ble zero-dynamics. We introduce a sequence of state transformations that transform the system into a lower triangular structure that is amenable for integrator backstepping design. Then we design the out-put-feedback controller and prove that the closed-loop system is bounded in probability. Furthermore, when the disturbance vector field vanishes at the origin, the closed-loop system is asymptotically stable in the large. With special care, the controller preserves the equilibrium of the nonlinear system. An ex-ample is included to illustrate the theoretical findings.展开更多
In this paper, the design problem of satisfaction output feedback controls for stochastic nonlinear systems in strict feedback form under long-term tracking risk-sensitive index is investigated. The index function ado...In this paper, the design problem of satisfaction output feedback controls for stochastic nonlinear systems in strict feedback form under long-term tracking risk-sensitive index is investigated. The index function adopted here is of quadratic form usually encountered in practice, rather than of quartic one used to beg the essential difficulty on controller design and performance analysis of the closed-loop systems. For any given risk-sensitive parameter and desired index value, by using the integrator backstepping method, an output feedback control is constructively designed so that the closed-loop system is bounded in probability and the risk-sensitive index is upper bounded by the desired value.展开更多
文摘Controller tuning is the correct setting of controller parameters to control complex dynamic systems appropriately and with high accuracy.Therefore,this study addressed the development of a method for tuning the heading controller of an unmanned surface vehicle(USV)based on the backstepping integral technique to enhance the vehicle behavior while tracking a desired position for water monitoring missions.The vehicle self-steering system(autopilot system)is designed theoretically and tested via a simulation.Based on the Lyapunov theory,the stability in the closed-loop system is guaranteed,and the convergence of the heading tracking errors is obtained.In addition,the designed control law is implemented via a microcontroller and tested experimentally in real time.Conclusion,experimental results were carried out to verify the robustness of the designed controller when disturbances and uncertainties are introduced into the system.
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 National Natural Science Foundation of China (No. 60674027)
文摘A controller design is proposed for a class of high order nonholonomic systems with nonlinear drifts. The purpose is to ensure a solution for the closed-loop system regulated to zero. Adding a power integrator backstepping technique and the switching control strategy are employed to design the controller. The state scaling is applied to the recursive manipulation. The simulation example demonstrates the effectiveness and robust features of the proposed method.
基金the Science and Technology Innovation 2030-Key Project of\New Generation Articial Intelligence"under grant#2018AAA0102403National Natural Science Foundation of China under grant#U20B2071,#91948204,#T2121003,#U1913602 and#U19B2033.
文摘The aerial manipulator expands the scope of unmanned aerial vehicle(UAV)'s application as well as increases the di±culties in the design of the controller.To better control the aerial manipulator for di®erent trajectories tracking under di®erent conditions,a new dual-layer controller is designed in this paper.The integral backstepping sliding mode controller(IBSMC)is applied to the outer-loop controller and backstepping controller(BC)is applied to the innerloop controller.To improve the performance of the system,an improved pigeon-inspired optimization(PIO)algorithm called group coevolution and immigration pigeon-inspired optimization(GCIPIO)algorithm is proposed to optimize the controller parameters of IBSMC.GCIPIO algorithm utilizes the group coevolution and immigration mechanisms.A series of simulations are conducted to show the advantage of the proposed method.The results illustrate that the proposed method ensures the closed-loop system has less end-e®ector tracking error.
基金This work was supported by the National Natural Science Foundation of China (Grant No. 60004005).
文摘In this paper, we study the problem of output feedback stabilization for stochastic nonlin-ear systems. We consider a class of stochastic nonlinear systems in observer canonical form with sta-ble zero-dynamics. We introduce a sequence of state transformations that transform the system into a lower triangular structure that is amenable for integrator backstepping design. Then we design the out-put-feedback controller and prove that the closed-loop system is bounded in probability. Furthermore, when the disturbance vector field vanishes at the origin, the closed-loop system is asymptotically stable in the large. With special care, the controller preserves the equilibrium of the nonlinear system. An ex-ample is included to illustrate the theoretical findings.
基金This work was supported by the National Natural Science Foundation of China.
文摘In this paper, the design problem of satisfaction output feedback controls for stochastic nonlinear systems in strict feedback form under long-term tracking risk-sensitive index is investigated. The index function adopted here is of quadratic form usually encountered in practice, rather than of quartic one used to beg the essential difficulty on controller design and performance analysis of the closed-loop systems. For any given risk-sensitive parameter and desired index value, by using the integrator backstepping method, an output feedback control is constructively designed so that the closed-loop system is bounded in probability and the risk-sensitive index is upper bounded by the desired value.