Article
Automation & Control Systems
Yen-Chen Liu, Tsung-Wei Ou
Summary: This paper presents the design, analysis, and implementation of an adaptive backstepping controller for underactuated quadrotors to track time-varying trajectories with parameter uncertainties. By decoupling uncertain mass and inertia from lifting force and moment torque, stability and convergence of tracking errors are ensured through adaptive laws. The control scheme is extended to quadrotors with velocity motor input, addressing trajectory generation and tracking performance without the need for acceleration information. Simulation and experimental results demonstrate the efficacy of the proposed controller for object transportation.
IET CONTROL THEORY AND APPLICATIONS
(2021)
Article
Automation & Control Systems
Siri Marte Schlanbusch, Jing Zhou, Rune Schlanbusch
Summary: This article investigates the adaptive attitude-tracking problem of a rigid body with input and output transmitted via a network. To reduce the communication burden, a quantizer is introduced in both uplink and downlink communication channels. An adaptive backstepping-based control scheme is developed for multiple-input and multiple-output (MIMO) rigid body systems. The proposed control algorithm overcomes the difficulty of recursive design with quantized output vector and introduces a new approach to stability analysis. Experimental results demonstrate the effectiveness of the proposed control scheme on a 2 degrees-of-freedom helicopter system.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Engineering, Electrical & Electronic
Vijay Kumar Singh, Shyam Kamal
Summary: This paper addresses the prescribed-time attitude tracking issue for an uncertain nonlinear 2-DOF helicopter. A proposed prescribed-time control method based on adaptive backstepping is used to track the desired pitch and yaw positions separately. Simulations conducted on the Quanser 2-DOF helicopter system verify the effectiveness and control capabilities of the proposed method.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
(2023)
Article
Computer Science, Artificial Intelligence
Xin Cheng, Yajun Zhang, Huashan Liu, Dirk Wollherr, Martin Buss
Summary: This paper proposes a generalized saturated adaptive controller based on backstepping control, singular perturbation decoupling, and neural networks for tracking control of flexible-joint robot manipulators. The controller achieves satisfactory tracking performance while keeping control inputs bounded within a given range and demonstrating superior anti-disturbance capability.
Article
Automation & Control Systems
Wanmin Chang, Yongming Li, Shaocheng Tong
Summary: An adaptive fuzzy state feedback control method is proposed for a single-link robotic manipulator system with unknown nonlinear function and actuator saturation. The method uses fuzzy logic systems and a smooth function to approximate the unknown nonlinearities and actuator saturation. By combining command-filter technique with backstepping design algorithm, a novel control method is developed to guarantee stability and output tracking performance of the system.
IEEE-CAA JOURNAL OF AUTOMATICA SINICA
(2021)
Article
Computer Science, Artificial Intelligence
Lin Zhao, Jinpeng Yu, Xinkai Chen
Summary: This paper presents a neural network-based adaptive finite-time output feedback attitude tracking control method, which can effectively address issues such as actuator saturation, inertial uncertainty, and external disturbance in spacecraft. By designing a neural state observer and applying adaptive neural finite-time command filtered backstepping control, finite-time attitude tracking and controller state updating can be achieved. Numerical simulations confirm the effectiveness of the proposed algorithm.
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
(2023)
Article
Computer Science, Theory & Methods
Fujin Jia, Junwei Lu, Yongmin Li, Fangyuan Li
Summary: This paper proposes a new full-state constraints (FSCs) control scheme for stabilizing nonlinear systems with unknown functions. It introduces fuzzy control to approximate the unknown functions and solves the explosion of terms (EOT) problem of backstepping using a lemma. The proposed method ensures that all signals are semi-globally uniformly ultimately bounded (SGUUB) and the system state converges to a neighborhood of the origin. The effectiveness of the proposed algorithm is demonstrated through its application to Chua's circuit system.
FUZZY SETS AND SYSTEMS
(2023)
Article
Computer Science, Information Systems
Jinglei Zhou, Endong Liu, Xiumei Tian, Zhenwu Li
Summary: An adaptive fuzzy backstepping controller based on dynamic surface control is proposed in this paper to track and control robotic manipulators. External disturbances and modeling errors are considered and distinguished. Feedback control technique and fuzzy networks are used to handle the uncertainties.
Article
Computer Science, Artificial Intelligence
Ming Chen, Huanqing Wang, Xiaoping Liu
Summary: This article proposes an adaptive practical fixed-time control strategy for the output tracking control of a class of strict feedback nonlinear systems. By utilizing backstepping algorithm, finite-time Lyapunov stable theory, and fuzzy logic control, a novel controller is constructed. Theoretical analysis shows that the closed-loop system is practically fixed-time stable under the presented control strategy, and all signals are bounded while the tracking error converges to a small neighborhood of the origin within a fixed-time interval.
IEEE TRANSACTIONS ON FUZZY SYSTEMS
(2021)
Article
Automation & Control Systems
Dongdong Xia, Xiaokui Yue, Yuwan Yin
Summary: In this paper, a novel neural adaptive output-feedback control method is investigated for rigid-body attitude with inertia uncertainty, unavailability of the angular velocity, and unknown external disturbance. By combining the first-order filter and coordinate transformation, the original output feedback system is converted into a full-state strict feedback system with mismatched disturbance. An innovative neural network-based adaptive control scheme is proposed using backstepping technique and the infinitely integrable inequality with saturation function. The developed algorithm achieves asymptotic tracking performance for the transformed system and the attitude tracking system without angular velocity simultaneously. Comparative numerical simulations validate the efficacy of the algorithm.
Article
Chemistry, Multidisciplinary
Wenlong Zhao, Zhijun Meng, Kaipeng Wang, Haoyu Zhang
Summary: This paper proposes a composite control scheme for helicopters, including a nonlinear backstepping controller and an extended state observer (ESO) to handle the complicated flapping dynamics and external disturbances. By estimating and compensating the lumped disturbance in real-time, the algorithm can achieve accurate and agile attitude tracking under external wind gust disturbances.
APPLIED SCIENCES-BASEL
(2021)
Article
Automation & Control Systems
Wei Sun, Shun-Feng Su, Jianwei Xia, Guangming Zhuang
Summary: A novel adaptive fuzzy prescribed performance tracking control method is proposed in this article, effectively addressing the control problem of strict-feedback stochastic uncertain nonlinear systems. The effectiveness of the method is verified through simulation examples.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2021)
Article
Computer Science, Artificial Intelligence
Lin Zhao, Guoqing Liu, Jinpeng Yu
Summary: This article presents a new command filtered backstepping based finite-time adaptive fuzzy tracking control scheme for unknown nonlinear systems with full-state constraints. The effectiveness of the control method is demonstrated through simulations.
IEEE TRANSACTIONS ON FUZZY SYSTEMS
(2021)
Article
Computer Science, Information Systems
Xiaohua Zhang, Jiliang Mu, Chao Jing
Summary: This paper introduces an adaptive control scheme combined with an unknown system dynamics estimator for attitude control of quadrotors, effectively addressing parametric uncertainties and external disturbances. The unique feature lies in the separate handling of uncertainties and disturbances, significantly reducing the learning load of USDE and avoiding the use of high gains in feedback loops.
Article
Computer Science, Artificial Intelligence
Bingyun Liang, Shiqi Zheng, Choon Ki Ahn, Feng Liu
Summary: This article focuses on the study of a decentralized fuzzy control method for a class of fractional-order interconnected systems with unknown control directions. A novel fractional-order Nussbaum function technique is proposed to handle the multiple unknown control directions and is applicable for both fractional and integer-order systems. Fuzzy logic systems are also used to approximate unknown nonlinearities.
IEEE TRANSACTIONS ON FUZZY SYSTEMS
(2022)
Article
Automation & Control Systems
Yun Ho Choi, Sung Jin Yoo
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2018)
Article
Automation & Control Systems
Yun Ho Choi, Sung Jin Yoo
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2018)
Article
Engineering, Mechanical
Yun Ho Choi, Sung Jin Yoo
NONLINEAR DYNAMICS
(2019)
Article
Automation & Control Systems
Yun Ho Choi, Sung Jin Yoo
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2019)
Article
Engineering, Electrical & Electronic
Dong Min Jeong, Yun Ho Choi, Sung Jin Yoo
JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY
(2020)
Article
Automation & Control Systems
Yun Ho Choi, Sung Jin Yoo
Article
Mathematics
Yun Ho Choi, Sung Jin Yoo
Article
Automation & Control Systems
Yun Ho Choi, Sung Jin Yoo
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2020)
Article
Mathematics
Yun Ho Choi, Sung Jin Yoo
Article
Robotics
Yun Ho Choi, Doik Kim
Summary: This research introduces a distance-based formation control algorithm with a novel goal assignment approach to prevent undesirable formations and achieve global asymptotic convergence. Simulation and experimental results demonstrate the effectiveness of the proposed algorithm.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Automation & Control Systems
Yun Ho Choi, Sung Jin Yoo
Summary: This article introduces a filter-driven-approximation (FDA)-based design for distributed containment control of multi-agent systems, ensuring convergence of followers to the convex hull of leaders. Compared to other methods using adaptive neural network or fuzzy approximators, the proposed approach is simpler and more effective.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2021)
Article
Computer Science, Artificial Intelligence
Yun Ho Choi, Sung Jin Yoo
Summary: This study proposes an adaptive asynchronous event-triggered design strategy based on a single neural network for the distributed consensus tracking of uncertain lower triangular nonlinear multi-agent systems. By using neighbors' triggered output information to estimate leader signals and designing local trackers through asynchronous event-triggered communication, this scheme effectively saves communication and computational resources.
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
(2022)
Article
Automation & Control Systems
Yun Ho Choi, Sung Jin Yoo
Summary: This study focuses on the distributed adaptive leader-following consensus of uncertain strict-feedback nonlinear multiagent systems with state quantizers, addressing the problem of distributed quantized state communication. The proposed approach involves deriving local adaptive control laws for each follower based on quantized-states and weight tuning laws.
IEEE TRANSACTIONS ON CYBERNETICS
(2022)
Article
Automation & Control Systems
Yun Ho Choi, Sung Jin Yoo
Summary: This paper presents a decentralized event-triggered tracking strategy based on minimal-function approximation (MFA), utilizing one funct ion approximator and one event-triggering condition for each subsystem to achieve local tracking laws. The total closed-loop stability is analyzed using impulsive system approach and Lyapunov stability theorem, while minimum interevent times for each subsystem are derived to prevent unexpected Zeno behavior.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2021)
Article
Computer Science, Information Systems
Byung Mo Kim, Yun Ho Choi, Sung Jin Yoo