A DSC approach to adaptive dynamic region‐based tracking control for strict‐feedback non‐linear systems

Abstract As an extension of the conventional set‐point control problem, the dynamic region‐based tracking control scheme with obstacle avoidance is proposed for a class of uncertain strict‐feedback non‐linear systems. A novel adaptive tracking controller is designed by a fusion of artificial potenti...

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Autores principales:	Xiaoming Sun, Shuzhi Sam Ge
Formato:	article
Lenguaje:	EN
Publicado:	Wiley 2022
Materias:	Control engineering systems. Automatic machinery (General) TJ212-225
Acceso en línea:	https://doaj.org/article/3916a07ebc854dcf814f435d02356765
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spelling	oai:doaj.org-article:3916a07ebc854dcf814f435d023567652021-12-02T15:00:29ZA DSC approach to adaptive dynamic region‐based tracking control for strict‐feedback non‐linear systems1751-86521751-864410.1049/cth2.12210https://doaj.org/article/3916a07ebc854dcf814f435d023567652022-01-01T00:00:00Zhttps://doi.org/10.1049/cth2.12210https://doaj.org/toc/1751-8644https://doaj.org/toc/1751-8652Abstract As an extension of the conventional set‐point control problem, the dynamic region‐based tracking control scheme with obstacle avoidance is proposed for a class of uncertain strict‐feedback non‐linear systems. A novel adaptive tracking controller is designed by a fusion of artificial potential field, recursive backstepping approach, neural networks, dynamic surface control technique, calculus method, and Lyapunov stability theory. In the proposed control scheme, the objective region cannot be required to have a regular shape or a fixed size for the passibility of the system in constrained space. The region tracking error is transformed into a new virtual error variable for recursively designing a dynamic surface controller, and the dimension of neural network inputs can be greatly reduced, especially for high‐order systems. The Lyapunov theorem is used to confirm the stability and uniform boundedness of all closed‐loop signals. Simulation results are provided to demonstrate the effectiveness of the proposed controller.Xiaoming SunShuzhi Sam GeWileyarticleControl engineering systems. Automatic machinery (General)TJ212-225ENIET Control Theory & Applications, Vol 16, Iss 1, Pp 94-111 (2022)
institution	DOAJ
collection	DOAJ
language	EN
topic	Control engineering systems. Automatic machinery (General) TJ212-225
spellingShingle	Control engineering systems. Automatic machinery (General) TJ212-225 Xiaoming Sun Shuzhi Sam Ge A DSC approach to adaptive dynamic region‐based tracking control for strict‐feedback non‐linear systems
description	Abstract As an extension of the conventional set‐point control problem, the dynamic region‐based tracking control scheme with obstacle avoidance is proposed for a class of uncertain strict‐feedback non‐linear systems. A novel adaptive tracking controller is designed by a fusion of artificial potential field, recursive backstepping approach, neural networks, dynamic surface control technique, calculus method, and Lyapunov stability theory. In the proposed control scheme, the objective region cannot be required to have a regular shape or a fixed size for the passibility of the system in constrained space. The region tracking error is transformed into a new virtual error variable for recursively designing a dynamic surface controller, and the dimension of neural network inputs can be greatly reduced, especially for high‐order systems. The Lyapunov theorem is used to confirm the stability and uniform boundedness of all closed‐loop signals. Simulation results are provided to demonstrate the effectiveness of the proposed controller.
format	article
author	Xiaoming Sun Shuzhi Sam Ge
author_facet	Xiaoming Sun Shuzhi Sam Ge
author_sort	Xiaoming Sun
title	A DSC approach to adaptive dynamic region‐based tracking control for strict‐feedback non‐linear systems
title_short	A DSC approach to adaptive dynamic region‐based tracking control for strict‐feedback non‐linear systems
title_full	A DSC approach to adaptive dynamic region‐based tracking control for strict‐feedback non‐linear systems
title_fullStr	A DSC approach to adaptive dynamic region‐based tracking control for strict‐feedback non‐linear systems
title_full_unstemmed	A DSC approach to adaptive dynamic region‐based tracking control for strict‐feedback non‐linear systems
title_sort	dsc approach to adaptive dynamic region‐based tracking control for strict‐feedback non‐linear systems
publisher	Wiley
publishDate	2022
url	https://doaj.org/article/3916a07ebc854dcf814f435d02356765
work_keys_str_mv	AT xiaomingsun adscapproachtoadaptivedynamicregionbasedtrackingcontrolforstrictfeedbacknonlinearsystems AT shuzhisamge adscapproachtoadaptivedynamicregionbasedtrackingcontrolforstrictfeedbacknonlinearsystems AT xiaomingsun dscapproachtoadaptivedynamicregionbasedtrackingcontrolforstrictfeedbacknonlinearsystems AT shuzhisamge dscapproachtoadaptivedynamicregionbasedtrackingcontrolforstrictfeedbacknonlinearsystems
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A DSC approach to adaptive dynamic region‐based tracking control for strict‐feedback non‐linear systems

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