지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2020.10
- 수록면
- 815 - 825 (11page)
- DOI
- 10.5302/J.ICROS.2020.20.0035
이용수
초록· 키워드
오류제보하기
This paper proposes a hybrid STA (Super-Twisting Algorithm) based DSC (Dynamic Surface Control) scheme with a state observer and tracking error constraining method for MIMO (Multi-Input, Multi-Output) nonlinear systems. Using the transformed error states contributed by the STA, a controller was designed according to the recursive steps in conventional DSC systems. Moreover, in this study, the complexity problem in the conventional DSC schemes caused by the interpretation of the filtering output errors and related stability analysis were bypassed by combining DSC with the STA. In addition, the tracking error constraint method was applied to constrain the full tracking errors of the STA based DSC system. Finally, unmeasured states were estimated by state observers and blended into controller design. The proposed method achieved competitive results compared with conventional DSC systems, as demonstrated by the simulation results obtained using an articulated manipulator system.
목차
Abstract
I. Introduction
II. Problem Formulation
III. Design of the State Observer and Controller
IV. Stability Analysis
V. Application Example
VI. Conclusion
REFERENCES
참고문헌 (21)
참고문헌 신청
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S. I. Han, “Precise positioning of nonsmooth dynamic systems using fuzzy wavelet echo state networks and dynamic surface sliding mode control,” IEEE Transactions on Industrial Electronics, vol. 60, no. 11, pp. 5124-5136, 2013.
Y. Li, S. Tong, and T. Li, “Adaptive fuzzy output feedback dynamic surface control of interconnected nonlinear purefeedback systems,” IEEE Transactions on Cybernetics, vol. 45, no. 1, pp. 138-149, 2015.
X. Zhang, C. Su, Y. Lin, L. Ma, and J. Wang, “Adaptive neural network dynamic surface control for a class of time-delay nonlinear systems with hysteresis inputs and dynamic uncertainties,” IEEE Transactions on Neural Networks and Learning Systems, vol. 26, no. 11, pp. 2844-2860, 2015.
Z. Liu, X. Dong, J. Xue, H. Li, and Y. Chen, “Adaptive neural control for a class of pure-feedback nonlinear systems via dynamic surface technique,” IEEE Transactions on Neural Networks and Learning Systems, vol. 29, no. 9, pp. 1969-1975, 2016.
S. I. Han, “Precise positioning of nonsmooth dynamic systems using fuzzy wavelet echo state networks and dynamic surface sliding mode control,” IEEE Transactions on Industrial Electronics, vol. 60, no. 11, pp. 5124-5136, 2013.
Y. Li, S. Tong, and T. Li, “Adaptive fuzzy output feedback dynamic surface control of interconnected nonlinear purefeedback systems,” IEEE Transactions on Cybernetics, vol. 45, no. 1, pp. 138-149, 2015.
X. Zhang, C. Su, Y. Lin, L. Ma, and J. Wang, “Adaptive neural network dynamic surface control for a class of time-delay nonlinear systems with hysteresis inputs and dynamic uncertainties,” IEEE Transactions on Neural Networks and Learning Systems, vol. 26, no. 11, pp. 2844-2860, 2015.
Z. Liu, X. Dong, J. Xue, H. Li, and Y. Chen, “Adaptive neural control for a class of pure-feedback nonlinear systems via dynamic surface technique,” IEEE Transactions on Neural Networks and Learning Systems, vol. 29, no. 9, pp. 1969-1975, 2016.
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