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Immersion and invariance adaptive control with sigma-modification for uncertain nonlinear systems
Han, Chao1,2; Liu, Zhen1; Yi, Jianqiang1
Source PublicationJOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
2018-03-01
Volume355Issue:5Pages:2091-2111
SubtypeArticle
AbstractA novel adaptive control with sigma-modification for uncertain nonlinear systems is proposed in the paper. The application of conventional adaptive control is severely limited by the problems of construction of Lyapunov function and parameter drift because of non-parametric uncertainties. The proposed adaptive control that is on the basis of the immersion and invariance theory and s-modification can be used to deal with these problems to some extent. It turns out to be a structured design method without requiring a Lyapunov function in the design level and robust to non-parametric uncertainties. Moreover, constrained command filter backstepping is adopted to meet the amplitude and rate constraints on the states and actuators. The uniformly ultimately bounded stability of the closed-loop system has been analyzed by Lyapunov theory with parametric and non-parametric uncertainties of the controlled model. To demonstrate the design flexibility, the method is applied to the position tracking control system design of a mass-damper-spring system and the flight control system design of a scramjet-powered air-breathing hypersonic vehicle. Finally, the effectiveness of the proposed adaptive control method is illustrated by numerical simulations. (C) 2018 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
KeywordImmersion And Invariance Adaptive Σ-modification Uncertain Nonlinear System
WOS HeadingsScience & Technology ; Technology ; Physical Sciences
DOI10.1016/j.jfranklin.2017.12.006
WOS KeywordBREATHING HYPERSONIC VEHICLE ; AERIAL VEHICLE ; DESIGN ; OBSERVER ; MODEL
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(61421004 ; Beijing Advanced Innovation Center of Intelligent Robots and Systems(2016IRS23) ; 61603384 ; 61403381)
WOS Research AreaAutomation & Control Systems ; Engineering ; Mathematics
WOS SubjectAutomation & Control Systems ; Engineering, Multidisciplinary ; Engineering, Electrical & Electronic ; Mathematics, Interdisciplinary Applications
WOS IDWOS:000427827800002
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/21059
Collection综合信息系统研究中心
Corresponding AuthorLiu, Zhen
Affiliation1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100047, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Chao Han, Zhen Liu, Jianqiang Yi. Immersion and invariance adaptive control with σ-modification for uncertain nonlinear systems[J]. Journal of the Franklin Institute,2018,355(5):2091–2111.
APA Han, Chao,Liu, Zhen,&Yi, Jianqiang.(2018).Immersion and invariance adaptive control with sigma-modification for uncertain nonlinear systems.JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS,355(5),2091-2111.
MLA Han, Chao,et al."Immersion and invariance adaptive control with sigma-modification for uncertain nonlinear systems".JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 355.5(2018):2091-2111.
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