Adaptive Output Feedback Control Design with Adaptive Parallel Feedforward Compensator and Feedforward Input via Kernel Method for Nonlinear System

This paper deals with a design problem of an adaptive output feedback tracking control for systems with a parallel feedforward compensator (PFC) introduced in order to realize the output feedback exponential passive (OFEP) augmented control system. It is well known that one can easily design an adaptive output feedback control system for nonlinear systems satisfying the OFEP conditions. We adopt introduceing a PFC to make a non-OFEP nonlinear system OFEP and propose an adaptive control system design scheme which improves the control performance of the practical control system without the PFC. The effectiveness of the proposed method will be confirmed through experiments of a magnetic levitation system.

Data-based adaptive neural network optimal output feedback control for nonlinear systems with actuator saturation

In this paper, an application of the Principal Component Analysis (PCA) technique to data-driven approach is addressed. The proposed scheme is applied to OFSP-based adaptive output feedback control systems. It is well recognized that an adaptive control system based on OFSP conditions can achieve asymptotic stability via a static output feedback. However, these conditions are very restrictive on most realistic systems. Therefore, a parallel feedforward compensator (PFC) is introduced to alleviate such restrictions, but remains a steady state error which is removed by utilizing the feedforward input. Besides, the data-driven approach is one of effective control strategies for nonlinear systems in the process control, and the control parameters can be updated rapidly at each equilibrium point. However, there is no research work that had been done in terms of applying the data-driven approach in an adaptive control system based on OFSP. Therefore, once the robust stability of the adaptive control system based on OFSP can be guaranteed, the adaptive gains can be optimized by the data-driven approach such that the output performance is able to be improved. Moreover, the PCA technique is considered to imporove the data-driven approach in terms of computional cost. The proposed scheme is verified through a numerical example, the results of which demonstrate the effectiveness.

Traffic congestion control for Aw–Rascle–Zhang model

Adaptive Output Feedback Control System Design with Adaptive PFC for Combustion Control of Diesel Engine

This paper focuses on the problem of adaptive output feedback tracking control for a class of non-strict-feedback nonlinear systems with unknown control coefficients. By employing a linear state transformation, the original system is transformed to a new system for which control design becomes feasible. Then, after the introduction of a simple input-driven observer, an adaptive output feedback controller which contains only one parameter is developed for such systems by using backstepping technique and variable separation method. The designed controller ensures that all the signals in the closed-loop systems are Semi-globally Uniformly Ultimately Bounded (SGUUB).

The paper presents an approach to adaptive output feedback controller design for single-input-single-output (SISO) nonlinear systems based on the use of the singular perturbation technique. The presented approach guarantees desired output transient performance indices by inducing of two-time-scale motions in the closed-loop system. It has been shown that stability conditions imposed on the fast and slow modes and sufficiently large mode separation rate between fast and slow modes can ensure that the full-order closed-loop nonlinear system achieves the desired properties in such a way that the output transient performances are desired and insensitive to external disturbances and plant's parameter variations. The high-frequency-gain online identification and adaptive gain tuning are incorporated in the control system in order to maintain the two-time-scale structure in the closed-loop system trajectories and stability of fast-motion transients for a large range of plant's parameter variations. Numerical example and simulation results are presented.

This paper considers augmentation of an existing inertial damping mechanism by neural network-based adaptive control, for controlling a micromanipulator that is serially attached to a macromanipulator. The approach is demonstrated using an experimental test bed in which the micromanipulator is mounted at the tip of a cantilevered beam that resembles a macromanipulator with its joint locked. The inertial damping control combines acceleration feedback with position control for the micromanipulator so as to simultaneously suppress vibrations caused by the flexible beam while achieving precise tip positioning. Neural network-based adaptive elements are employed to augment the inertial damping controller when the existing control system becomes deficient due to modeling errors and uncertain operating conditions. There were several design challenges that had to be faced from an adaptive control perspective. One challenge was the presence of a nonminimum phase zero in an output feedback adaptive control design setting in which the regulated output variable has zero relative degree. Other challenges included flexibility in the actuation devices, lack of control degrees of freedom, and high dimensionality of the system dynamics. In this paper we describe how we overcame these difficulties by modifying a previous augmenting adaptive approach to make it suitable for this application. Experimental results are provided to illustrate the effectiveness of the augmenting approach to adaptive output feedback control design.

In this study, the fault-tolerant control problem is investigated for a class of non-affine output-constrained multi-input multiple-output non-linear systems with actuator faults. The controlled systems contain unknown non-linear functions, unknown external disturbance and immeasurable states. The fuzzy logic systems and a robust compensation function are employed to deal with the unknown non-linear functions and non-affine non-linear actuator fault problems. Then, the state observer and the non-linear disturbance observer are developed for estimating the immeasurable states and unknown compounded disturbance, respectively. By using the barrier Lyapunov function method and in the unified framework of adaptive backstepping output feedback control design, a novel adaptive fuzzy fault-tolerant controller design scheme is developed. It is shown that all the variables of the closed-loop system are semi-globally uniformly bounded. Moreover, the system outputs cannot violate their predefined bounds in the presence of the non-affine non-linear faults. A simulation is given to validate the effectiveness of the proposed approach.

In this paper, an adaptive output feedback control strategy is presented to solve the stabilization problem of nonholonomic systems in chained form with strong nonlinear drifts and uncertain parameters using output signals only. The control law is developed using input-state scaling and backstepping techniques. The objective is to design adaptive nonlinear output feedback laws which can steer the closed-loop systems globally converge to the origin, while the estimated parameters remain bounded. An adaptive output feedback controller is proposed for a class of uncertain chained systems. Simulation results demonstrate the effectiveness of the proposed controllers.

In this paper, a hybrid fuzzy adaptive output feedback control design approach is proposed for a class of multiinput and multioutput strict-feedback nonlinear systems with unknown time-varying delays, unmeasured states, and input saturation. First, fuzzy logic systems are employed to approximate unknown nonlinear functions in the system. Next, a smooth function is used to approximate the input saturation and an adaptive fuzzy state observer is constructed to solve the problem of unmeasured states. Based on the designed adaptive fuzzy state observer, a serial-parallel estimation model is established. By applying adaptive fuzzy dynamic surface control technique and utilizing the prediction error between the system states observer model and the serial-parallel estimation model, a new fuzzy controller with the composite parameters adaptive laws is developed based on Lyapunov-Krasovskii functional. It is proved that all variables of the closed-loop system are bounded and the system outputs can follow the given bounded reference signals as close as possible. A simulation example is provided to further show the effectiveness of this novel control scheme.

In this paper, we propose a two degree of freedom adaptive output feedback control system design scheme for discrete-time systems having ASPR property itself. One-step output predictive scheme, which is utilized as a feedforward control input in order to improve the control performance in the transient state, is proposed for systems having ASPR property. The stability of the control system can be guaranteed by ASPR based adaptive output feedback control system with a PFC.

Based on the backstepping technique, an adaptive neural network (NN) based output feedback controller is proposed to achieve a desired tracking performance for a class of discrete-time nonlinear systems, which are represented in non-strict-feedback form. The neural networks are utilized to approximate unknown functions in the systems. The adaptive output feedback controller needs only to adjust less adaptive parameters, therefore it is clear that the proposed approach can reduce on-line computation burden. It is proven that all the signals in the closed-loop system are semi-global uniformly ultimately bounded (SGUUB) and the tracking error converges to a small neighborhood of zero by choosing the design parameters appropriately. A simulation example is used to verify the effectiveness of the proposed approach.

This paper investigates adaptive output feedback control problem for switched uncertain nonlinear systems with input quantization, unmeasured system states and state constraints. Firstly, fuzzy logic systems are introduced to identify system uncertainties, then the fuzzy based observer is constructed to estimate unavailable states. Secondly, combing the backstepping technique and the barrier Lyapunov function method, an adaptive fuzzy output feedback control law is designed, which guarantees that all signals in the closed-loop system are bounded, the system output tracks the reference signal, and system states satisfy their corresponding constraint conditions. Finally, simulation results further show the good performances of the proposed control scheme.

A nonlinear adaptive output feedback control approach based on LOLIMOT is proposed for a class of nonaffine system in the non-strict feedback form with unknown nonlinearities in this paper. In order to overcome the disadvantages of output feedback control, LOLIMOT which can identify the nonlinear system accurately is applied. During the control process, backstepping approach is utilized to design the adaptive output feedback controller and the internal pseudo-controller is used as one-step predictor. The effectiveness of proposed scheme is shown by simulation on a proper nonlinear system.