Adaptive Control for Stochastic Switched Nonlower Triangular Nonlinear Systems and Its Application to a One-Link Manipulator

Ben Niu; Choon Ki Ahn; Huan Li; Ming Liu

doi:10.1109/TSMC.2017.2685638

Adaptive Control for Stochastic Switched Nonlower Triangular Nonlinear Systems and Its Application to a One-Link Manipulator

Ben Niu, Choon Ki Ahn, Huan Li, Ming Liu

Research output: Contribution to journal › Article › peer-review

152 Citations (Scopus)

Abstract

This paper deals with the issue of adaptive observer-based stabilization for a more general class of uncertain switched stochastic nonlower triangular nonlinear systems with average dwell-time (ADT) switching. The completely unknown nonlinear functions possessing the entire states are handled using the neural networks universal approximation property and the variable separation technique. The main novelty of this paper is that it presents a universal formula for constructing an adaptive output-feedback controller of the considered system with only one adaptive parameter by designing a switched state observer. The theoretical analysis shows that the Lyapunov stability of the overall closed-loop system is ensured in the presence of ADT switching. Finally, the effectiveness and practicability of the obtained design scheme are illustrated by two simulation examples.

Original language	English
Article number	7914774
Pages (from-to)	1701-1714
Number of pages	14
Journal	IEEE Transactions on Systems, Man, and Cybernetics: Systems
Volume	48
Issue number	10
DOIs	https://doi.org/10.1109/TSMC.2017.2685638
Publication status	Published - 2018 Oct

Bibliographical note

Funding Information:
This work was supported in part by the National Natural Science Foundation of China under Grant 61673073 and Grant 61673072, in part by the Liaoning Provincial Natural Science Foundation, China, under Grant 201602009, in part by the Brain Korea 21 Plus Project in 2017, and in part by the National Research Foundation of Korea Funded by the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325.

Funding Information:
Dr. Liu was a recipient of the New Century Excellent Talents in University Award from the Ministry of Education of China in 2013.

Funding Information:
Manuscript received November 14, 2016; revised February 10, 2017; accepted March 16, 2017. Date of publication April 28, 2017; date of current version September 14, 2018. This work was supported in part by the National Natural Science Foundation of China under Grant 61673073 and Grant 61673072, in part by the Liaoning Provincial Natural Science Foundation, China, under Grant 201602009, in part by the Brain Korea 21 Plus Project in 2017, and in part by the National Research Foundation of Korea Funded by the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325. This paper was recommended by Associate Editor X. Zhao. (Corresponding author: Choon Ki Ahn.) B. Niu is with the College of Mathematics and Physics, Bohai University, Jinzhou 121013, China, and also with the College of Control Science and Engineering, Dalian University of Technology, Dalian 116024, China (e-mail: [email protected]).

Publisher Copyright:
© 2013 IEEE.

Keywords

Adaptive output-feedback control
average dwell time (ADT)
nonlower triangular nonlinear systems
switched stochastic systems

ASJC Scopus subject areas

Software
Control and Systems Engineering
Human-Computer Interaction
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TSMC.2017.2685638

Cite this

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title = "Adaptive Control for Stochastic Switched Nonlower Triangular Nonlinear Systems and Its Application to a One-Link Manipulator",

abstract = "This paper deals with the issue of adaptive observer-based stabilization for a more general class of uncertain switched stochastic nonlower triangular nonlinear systems with average dwell-time (ADT) switching. The completely unknown nonlinear functions possessing the entire states are handled using the neural networks universal approximation property and the variable separation technique. The main novelty of this paper is that it presents a universal formula for constructing an adaptive output-feedback controller of the considered system with only one adaptive parameter by designing a switched state observer. The theoretical analysis shows that the Lyapunov stability of the overall closed-loop system is ensured in the presence of ADT switching. Finally, the effectiveness and practicability of the obtained design scheme are illustrated by two simulation examples.",

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author = "Ben Niu and Ahn, {Choon Ki} and Huan Li and Ming Liu",

note = "Funding Information: This work was supported in part by the National Natural Science Foundation of China under Grant 61673073 and Grant 61673072, in part by the Liaoning Provincial Natural Science Foundation, China, under Grant 201602009, in part by the Brain Korea 21 Plus Project in 2017, and in part by the National Research Foundation of Korea Funded by the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325. Funding Information: Dr. Liu was a recipient of the New Century Excellent Talents in University Award from the Ministry of Education of China in 2013. Funding Information: Manuscript received November 14, 2016; revised February 10, 2017; accepted March 16, 2017. Date of publication April 28, 2017; date of current version September 14, 2018. This work was supported in part by the National Natural Science Foundation of China under Grant 61673073 and Grant 61673072, in part by the Liaoning Provincial Natural Science Foundation, China, under Grant 201602009, in part by the Brain Korea 21 Plus Project in 2017, and in part by the National Research Foundation of Korea Funded by the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325. This paper was recommended by Associate Editor X. Zhao. (Corresponding author: Choon Ki Ahn.) B. Niu is with the College of Mathematics and Physics, Bohai University, Jinzhou 121013, China, and also with the College of Control Science and Engineering, Dalian University of Technology, Dalian 116024, China (e-mail: [email protected]). Publisher Copyright: {\textcopyright} 2013 IEEE.",

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N1 - Funding Information: This work was supported in part by the National Natural Science Foundation of China under Grant 61673073 and Grant 61673072, in part by the Liaoning Provincial Natural Science Foundation, China, under Grant 201602009, in part by the Brain Korea 21 Plus Project in 2017, and in part by the National Research Foundation of Korea Funded by the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325. Funding Information: Dr. Liu was a recipient of the New Century Excellent Talents in University Award from the Ministry of Education of China in 2013. Funding Information: Manuscript received November 14, 2016; revised February 10, 2017; accepted March 16, 2017. Date of publication April 28, 2017; date of current version September 14, 2018. This work was supported in part by the National Natural Science Foundation of China under Grant 61673073 and Grant 61673072, in part by the Liaoning Provincial Natural Science Foundation, China, under Grant 201602009, in part by the Brain Korea 21 Plus Project in 2017, and in part by the National Research Foundation of Korea Funded by the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325. This paper was recommended by Associate Editor X. Zhao. (Corresponding author: Choon Ki Ahn.) B. Niu is with the College of Mathematics and Physics, Bohai University, Jinzhou 121013, China, and also with the College of Control Science and Engineering, Dalian University of Technology, Dalian 116024, China (e-mail: [email protected]). Publisher Copyright: © 2013 IEEE.

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N2 - This paper deals with the issue of adaptive observer-based stabilization for a more general class of uncertain switched stochastic nonlower triangular nonlinear systems with average dwell-time (ADT) switching. The completely unknown nonlinear functions possessing the entire states are handled using the neural networks universal approximation property and the variable separation technique. The main novelty of this paper is that it presents a universal formula for constructing an adaptive output-feedback controller of the considered system with only one adaptive parameter by designing a switched state observer. The theoretical analysis shows that the Lyapunov stability of the overall closed-loop system is ensured in the presence of ADT switching. Finally, the effectiveness and practicability of the obtained design scheme are illustrated by two simulation examples.

AB - This paper deals with the issue of adaptive observer-based stabilization for a more general class of uncertain switched stochastic nonlower triangular nonlinear systems with average dwell-time (ADT) switching. The completely unknown nonlinear functions possessing the entire states are handled using the neural networks universal approximation property and the variable separation technique. The main novelty of this paper is that it presents a universal formula for constructing an adaptive output-feedback controller of the considered system with only one adaptive parameter by designing a switched state observer. The theoretical analysis shows that the Lyapunov stability of the overall closed-loop system is ensured in the presence of ADT switching. Finally, the effectiveness and practicability of the obtained design scheme are illustrated by two simulation examples.

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Adaptive Control for Stochastic Switched Nonlower Triangular Nonlinear Systems and Its Application to a One-Link Manipulator

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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