Adaptive Constrained Control for Uncertain Nonlinear Time-Delay System with Application to Unmanned Helicopter

This paper investigates a class of nonlinear time-delayed systems with output prescribed performance constraint. The neural network and DOB (disturbance observer) are designed to tackle the uncertainties and external disturbance, and prescribed performance function is constructed for the output prescribed performance constrained problem. Then the robust controller is designed by using adaptive backstepping method, and the stability analysis is considered by using Lyapunov-Krasovskii. Furthermore, the proposed method is employed into the unmanned helicopter system with time-delay aerodynamic uncertainty. Finally, the simulation results illustrate that the proposed robust prescribed performance control system achieved a good control performance.

[1]  Tong Heng Lee,et al.  Design and implementation of a robust and nonlinear flight control system for an unmanned helicopter , 2011 .

[2]  Peng Shi,et al.  Robust Constrained Control for MIMO Nonlinear Systems Based on Disturbance Observer , 2015, IEEE Transactions on Automatic Control.

[3]  Yuzhen Wang,et al.  Finite-time stability analysis and H∞ control for a class of nonlinear time-delay Hamiltonian systems , 2013, Autom..

[4]  Lei Guo,et al.  Disturbance/Uncertainty Estimation and Attenuation Techniques in PMSM Drives—A Survey , 2017, IEEE Transactions on Industrial Electronics.

[5]  Shuzhi Sam Ge,et al.  Robust Adaptive Neural Network Control for a Class of Uncertain MIMO Nonlinear Systems With Input Nonlinearities , 2010, IEEE Transactions on Neural Networks.

[6]  Changyun Wen,et al.  Adaptive Backstepping Control of Uncertain Systems with Unknown Input Time-Delay , 2008 .

[7]  Bin Xu,et al.  Disturbance Observer-Based Dynamic Surface Control of Transport Aircraft With Continuous Heavy Cargo Airdrop , 2017, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[8]  Shaocheng Tong,et al.  Barrier Lyapunov Functions-based adaptive control for a class of nonlinear pure-feedback systems with full state constraints , 2016, Autom..

[9]  Shengyuan Xu,et al.  Observer-Based Adaptive Neural Network Control for Nonlinear Stochastic Systems With Time Delay , 2013, IEEE Transactions on Neural Networks and Learning Systems.

[10]  Yuzhen Wang,et al.  Finite-Time Stability and Stabilization of a Class of Nonlinear Time-Delay Systems , 2012, SIAM J. Control. Optim..

[11]  Jun Zhao,et al.  Tracking control for output-constrained nonlinear switched systems with a barrier Lyapunov function , 2013, Int. J. Syst. Sci..

[12]  Tong Heng Lee,et al.  Design and implementation of an autonomous flight control law for a UAV helicopter , 2009, Autom..

[13]  Shuzhi Sam Ge,et al.  Adaptive neural network control of nonlinear systems with unknown time delays , 2003, IEEE Trans. Autom. Control..

[14]  Charalampos P. Bechlioulis,et al.  Robust Adaptive Control of Feedback Linearizable MIMO Nonlinear Systems With Prescribed Performance , 2008, IEEE Transactions on Automatic Control.

[15]  Wei He,et al.  Adaptive Neural Network Control of a Marine Vessel With Constraints Using the Asymmetric Barrier Lyapunov Function. , 2017, IEEE transactions on cybernetics.

[16]  Shaocheng Tong,et al.  Fuzzy Adaptive Output Feedback Control of MIMO Nonlinear Systems With Partial Tracking Errors Constrained , 2015, IEEE Transactions on Fuzzy Systems.

[17]  Yongming Li,et al.  Observer-Based Adaptive Fuzzy Backstepping Dynamic Surface Control for a Class of MIMO Nonlinear Systems , 2011, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[18]  Mou Chen,et al.  Constrained Control Allocation for Overactuated Aircraft Using a Neurodynamic Model , 2016, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[19]  Zhang Jinhui,et al.  Disturbance observer based integral sliding mode control for systems with mismatched disturbances , 2015, 2015 34th Chinese Control Conference (CCC).

[20]  Mou Chen,et al.  Robust adaptive tracking control for unmanned helicopter with constraints , 2017 .

[21]  Peng Shi,et al.  Adaptive Neural Fault-Tolerant Control of a 3-DOF Model Helicopter System , 2016, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[22]  Gang Tao,et al.  Adaptive Fault-Tolerant Control of Uncertain Nonlinear Large-Scale Systems With Unknown Dead Zone , 2016, IEEE Transactions on Cybernetics.

[23]  Peng Shi,et al.  Control of Markovian jump discrete-time systems with norm bounded uncertainty and unknown delay , 1999, IEEE Trans. Autom. Control..

[24]  Jian Fu,et al.  Chattering-free sliding mode control with unidirectional auxiliary surfaces for miniature helicopters , 2012, Int. J. Intell. Comput. Cybern..

[25]  Rong Li,et al.  Adaptive neural tracking control for uncertain nonlinear systems with input and output constraints using disturbance observer , 2017, Neurocomputing.

[26]  Wen-Hua Chen,et al.  Model predictive control for autonomous helicopters with computational delay , 2010 .