Output Feedback Adaptive Maneuvering for Nonlinear MIMO Systems with High Frequency Gain Matrix Hurwitz

The problem of direct model reference adaptive control for multi input multi output (MIMO) uncertain plants with unknown high frequency gain matrix (HFGM) is addressed in the paper. Two schemes of adaptive control algorithms using augmented error estimators and relaxed assumption concerning HFGM are proposed. It is assumed that the minimum of modulus of HFGM determinant is known. The first scheme involves the resettable approximation of the inversion of HFGM estimate in control law. The second scheme is based on modification of conventional augmented error estimator by introduction of a switched projection mechanism. The proposed theoretical ideas are wrapped up by simulation examples.

The paper presents a new output feedback adaptive control scheme for multi-input and multi-output (MIMO) non-linear systems whose non-linear terms depend only on the output variable based on the backstepping approach with vector form. The assumption on the prior knowledge of the high frequency gain matrix in existing results is reduced and the new required condition for the high frequency gain matrix can be easily checked for certain plants so that the proposed method is widely applicable. This control scheme guarantees the global stability of the closed-loop systems and makes the tracking error be arbitrary small. A simulation example is included to demonstrate the proposed algorithm.

A robust adaptive NN output feedback control is proposed to control a class of uncertain discrete-time nonlinear multi-input–multi-output (MIMO) systems. The high-order neural networks are utilized to approximate the unknown nonlinear functions in the systems. Compared with the previous research for discrete-time MIMO systems, robustness of the proposed adaptive algorithm is obvious improved. Using Lyapunov stability theorem, the results show all the signals in the closed-loop system are semi-globally uniformly ultimately bounded, and the tracking errors converge to a small neighborhood of zero by choosing the design parameters appropriately.

In this paper, an adaptive neural network (NN) tracking controller is developed for a class of uncertain multi-input multi-output (MIMO) nonlinear systems with input saturation. Radial basis function neural networks are utilized to approximate the unknown nonlinear functions in the MIMO system. A novel auxiliary system is developed to compensate the effects induced by input saturation (in both magnitude and rate) during tracking control. Endowed with a switching structure that integrates two existing representative auxiliary system designs, this novel auxiliary system improves control performance by preserving their advantages. It provides a comprehensive design structure in which parameters can be adjusted to meet the required control performance. The auxiliary system signal is utilized in both the control law and the neural network weight-update laws. The performance of the resultant closed-loop system is analyzed, and the bound of the transient error is established. Numerical simulations are presented to demonstrate the effectiveness of the proposed adaptive neural network control.

This paper develops a framework of adaptive compensation of actuator nonlinearities with unknown parameters, for output feedback control of unknown multi-input multi-output linear time-invariant dynamic systems. A new controller parametrization is derived to deal with bilinear parameters from the actuator nonlinearity parameters and the dynamic system parameters, which, based on the LDU decomposition of the system high frequency gain matrix, is capable of overcoming the difficulty caused by a nondiagonal high frequency gain matrix and a special actuator nonlinearity parameter structure. The adaptive actuator nonlinearity compensation control scheme is a model reference adaptive control based design, employing an adaptive output feedback control law combined with an adaptive actuator nonlinearity inverse, to deal with parameter uncertainties in the system dynamics and actuator nonlinearities. Simulation results show the desired adaptive control system performance.

This paper develops a multiple fixed model blending based adaptive parameter identification scheme for multi-input multi-output (MIMO) systems with polytopic parameter uncertainty. The developed identification scheme is proven to be asymptotically stable for uncertain linear time-invariant MIMO systems, and is shown to provide fast adaptation for even uncertain linear time-varying (LTV) systems. Furthermore, utilizing the proposed parameter identification scheme, a linear-quadratic (LQ) optimal multiple model adaptive control (MMAC) scheme is developed for linear MIMO systems with polytopic uncertainties. The proposed MMAC scheme is applied to tracking control of uncertain lateral vehicle dynamics. A set of simulation test results are presented to verify the stability and effectiveness of the proposed MMAC scheme.

최근 대용량, 초고속 통신 서비스의 비중이 높아짐에 따라 배열 안테나를 사용하는 MIMO(Multi-Input Multi-Output) 시스템의 활용이 중요하게 평가되고 있다. 하지만 기존의 MIMO 시스템은 다수의 안테나를 사용하기 때문에 안테나의 개수만큼 RF(Radio Frequency) 체인이 요구되며, 이로 인해 복잡도와 전력 소모가 크다는 단점을 가진다. 이러한 기존 MIMO 시스템의 단점을 해결하기 위해서 단일 능동 소자와 다수의 기생 소자를 이용하는 방식의 ESPAR(Electronically Steerable Parasitic Array Radiator) 안테나를 사용하는 빔 공간 MIMO 시스템에 대한 연구가 활발히 진행되고 있다. ESPAR 안테나를 사용하는 빔 공간 MIMO 시스템은 단일 RF 체인으로 구성되어 있기 때문에 기존 MIMO 시스템의 단점을 해결할 수 있다. 본 논문에서는 시스템의 보안성을 향상시키기 위해 QPSK(Quadrature Phase Shift Keying) 변조 방식의 ESPAR 안테나를 사용하는 빔 공간 MIMO 시스템에 비예측성, 비주기성, 구현의 용이성, 민감한 초기조건 등의 특징을 가지고 있는 카오스 통신 알고리즘을 적용하여 QPSK 변조 방식의 ESPAR 안테나를 사용하는 카오스 빔 공간 MIMO 시스템을 구성하고 성능을 평가한다. Recently, utilization of MIMO(Multi-Input Multi-Output) system using array antennas is evaluated significantly according to the extension of high-capacity and high-speed communication services. However, MIMO system has disadvantages such as high-complexity and high-power-consumption, because RF(Radio Frequency) chain is required as antenna number, and several array antenna is used in conventional MIMO system. In order to solve these problems, research about beamspace MIMO system using ESPAR(Electronically Steerable Parasitic Array Radiator) antenna that has single RF chain by using one active antenna and several parasitic elements has been studied actively. Beamspace MIMO system using ESPAR antenna is possible to solve the problems of conventional MIMO system, because this system is composed by single RF chain. In this paper, in order to improve the system security, chaos communication algorithm that has characteristics such as non-periodic, non-predictability, easy implementation and initial condition is applied to QPSK (Quadrature Phase Shift Keying) modulated beamspace MIMO system. We design the chaos QPSK modulated beamspace MIMO system, and evaluate SER performance of this system.

In wireless communication, multiple signals are utilized to receive and send information in the form of signals simultaneously. These signals consume little power and are usually inexpensive, with a high data rate during data transmission. An Multi Input Multi Output (MIMO) system uses numerous antennas to enhance the functionality of the system. Moreover, system intricacy and power utilization are difficult and highly complicated tasks to achieve in an Analog to Digital Converter (ADC) at the receiver side. An infinite number of MIMO channels are used in wireless networks to improve efficiency with Cross Entropy Optimization (CEO). ADC is a serious issue because the data of the accepted signal are completely lost. ADC is used in the MIMO channels to overcome the above issues, but it is very hard to implement and design. So, an efficient way to enhance the estimation of channels in the MIMO system is proposed in this paper with the utilization of the heuristic-based optimization technique. The main task of the implemented channel prediction framework is to predict the channel coefficient of the MIMO system at the transmitter side based on the receiver side error ratio, which is obtained from feedback information using a Hybrid Serial Cascaded Network (HSCN). Then, this multi-scaled cascaded autoencoder is combined with Long Short Term Memory (LSTM) with an attention mechanism. The parameters in the developed Hybrid Serial Cascaded Multi-scale Autoencoder and Attention LSTM are optimized using the developed Hybrid Revised Position-based Wild Horse and Energy Valley Optimizer (RP-WHEVO) algorithm for minimizing the "Root Mean Square Error (RMSE), Bit Error Rate (BER) and Mean Square Error (MSE)" of the estimated channel. Various experiments were carried out to analyze the accomplishment of the developed MIMO model. It was visible from the tests that the developed model enhanced the convergence rate and prediction performance along with a reduction in the computational costs.

The paper proposes an approach to second order sliding mode control for multi-input multi-output (MIMO) nonlinear uncertain systems. Second order sliding mode techniques for single-input single-output (SISO) systems show, with respect to standard sliding mode control, the same properties of robustness and precision, feature a higher order accuracy and can be exploited to eliminate the chattering effect. The application of second order sliding mode control to MIMO nonlinear systems is a challenging matter. The presented MIMO control method applies to a quite large class of nonlinear processes affected by uncertainties of general nature; the control design is simple; the conditions of existence on the controllers are weak. The proposed procedure represents a general approach to the second order sliding mode control of MIMO systems

This article focuses on adaptive finite time control of multi-input multi-output (MIMO) nonlinear systems under time-varying actuator failures.A finite time adaptive control policy is proposed, guaranteeing the practical finite-time stability of the MIMO nonlinear systems with actuator failures. Simulation study illustrates the usefulness of the proposed policy.

This paper studies an adaptive tracking control for a class of multi-input multi-output (MIMO) non-affine nonlinear systems, with input dead-zone nonlinearity and external disturbances. By using the mean-value theorem, the system model is transformed into an affine form so as the difficulty in controlling non-affine systems is overcome. In the proposed control design, neural networks (NNs) are used to approximate the unknown nonlinearities based on their universal approximation properties. To compensate for approximation errors and external disturbances, an adaptive robust control term is introduced. In comparison with existing approaches, the structure of the designed controller is considerably simpler, and can handle a wider range of nonlinear systems. The stability of the closed-loop system is investigated by using Lyapunov theory. The simulation results illustrate the proposed method.

This paper provides an inverse-model-based iterative learning control (ILC) for the unknown multi-input multi-output (MIMO) nonlinear system with neural network (NN), where a novel gradient adaptive law is used to update the NN weights both hidden and output layers such a faster convergence can be achieved. First, a three-layer NN structure is introduced to observe the MIMO nonlinear system with input–output data, and a new gradient algorithm is proposed to update the unknown parameters of both hidden and output layers. Then, the input dynamic can be obtained with the NN observer, and the inversion-model-based control is designed. Moreover, the ideal inversion control can be obtained based on the reference signal, and the inverse ILC is designed. The stability of the NN observer and the convergence of the inverse-model-based control are analyzed. Finally, a SCARA manipulator MIMO model is simulated to illustrate the correctness of the proposed methods.

In this paper, an adaptive neural networks control approach is proposed for a class of multi-input multi-output (MIMO) non-affine nonlinear dynamic systems in the presence of input saturation. The difficulty in controlling the saturated non-affine system is overcome by introducing a system transformation, so as the system can be reformulated as an affine of a canonical system. In the control design, neural networks are used in the online learning of the unknown dynamics and the input saturation is approximated to reduce the influence caused by the nonlinearities, and a robustifying control term is used to compensate for the approximation errors. Compared to the literature, in the proposed approach, the structure of the designed controller is much simpler since the causes for the problem of complexity growing in existing methods are eliminated. The stability analysis of the closed-loop system is investigated by using Lyapunov theory. Numerical simulation illustrated the proposed control scheme with satisfactory results.

Transmit diversity schemes have been studied for high spectral-efficiency and high bit-rate transmission, such as multi-input multi-output (MIMO) systems. In this paper, a novel dual polarized ceiling-mounted antenna is designed and simulated. In the MIMO systems, forward error correction coding is essential for high quality communications. At the two typical scenes, the single-input single-output system compared with two single polarized antennas and an dual polarized antenna MIMO system is tested. It is shown that the MIMO system have improved throughput level obviously. The dual polarized ceiling-Mounted dual streams MIMO antenna will save much construction cost in the long-term evaluation systems in the future, which can be called the “green” MIMO antenna.

An optimal adaptive actuator failure compensation control scheme is proposed for a class of multi-input multi-output (MIMO) uncertain nonlinear continuous-time systems with redundant actuators subject to uncertain failures. Only single neural network is used in the proposed adaptive dynamic programming (ADP) scheme to simultaneously learn the infinite horizon cost function and the approximate optimal control input that minimizes the Hamilton-Jacobi-Bellman (HJB) equation. Besides, an uncertainty estimator is designed to estimate the uncertain dynamics and an adaptive parameter adjustment law is designed to estimate the actuator failure coefficients. Stability analysis and simulation results can demonstrate the effectiveness of the proposed method.