A disturbance observer(DOB)based-backstepping sliding mode control scheme is discussed for a class of semi-strict nonlinear system with unknown parameters and mismatched uncertainty.Firstly,adaptive technique and DOB ...A disturbance observer(DOB)based-backstepping sliding mode control scheme is discussed for a class of semi-strict nonlinear system with unknown parameters and mismatched uncertainty.Firstly,adaptive technique and DOB are respectively applied to tackle the unknown parameters and mismatched uncertainty,where the DOB can effectively alleviate the chattering problem of sliding mode control(SMC).Then,exponential sliding mode surface is proposed to improve the convergence rate of the sliding mode state.The‘explosion of complexity’problem inherent in conventional backstepping control is overcome by designing the novel first-order filter.The stability of the closed-loop system is analyzed in the framework of Lyapunov stability theory,in which the tracking error converges to an arbitrarily small neighborhood around zero(ASNZ).At last,two examples are given to illustrate the effectiveness of the proposed control strategy.展开更多
Many practical problems can be formulated as l0-minimization problems with nonnegativity constraints,which seek the sparsest nonnegative solutions to underdetermined linear systems.Recent study indicates that l1-minim...Many practical problems can be formulated as l0-minimization problems with nonnegativity constraints,which seek the sparsest nonnegative solutions to underdetermined linear systems.Recent study indicates that l1-minimization is efficient for solving l0-minimization problems.From a mathematical point of view,however,the understanding of the relationship between l0-and l1-minimization remains incomplete.In this paper,we further address several theoretical questions associated with these two problems.We prove that the fundamental strict complementarity theorem of linear programming can yield a necessary and sufficient condition for a linear system to admit a unique least l1-norm nonnegative solution.This condition leads naturally to the so-called range space property(RSP)and the “full-column-rank”property,which altogether provide a new and broad understanding of the equivalence and the strong equivalence between l0-and l1-minimization.Motivated by these results,we introduce the concept of “RSP of order K”that turns out to be a full characterization of uniform recovery of all K-sparse nonnegative vectors.This concept also enables us to develop a nonuniform recovery theory for sparse nonnegative vectors via the so-called weak range space property.展开更多
This paper presents a novel fixed-time stabilization control(FSC)method for a class of strict-feedback nonlinear systems involving unmodelled system dynamics.The key feature of the proposed method is the design of two...This paper presents a novel fixed-time stabilization control(FSC)method for a class of strict-feedback nonlinear systems involving unmodelled system dynamics.The key feature of the proposed method is the design of two dynamic parameters.Specifically,a set of auxiliary variables is first introduced through state transformation.These variables combine the original system states and the two introduced dynamic parameters,facilitating the closed-loop system stability analyses.Then,the two dynamic parameters are delicately designed by utilizing the Lyapunov method,ensuring that all the closed-loop system states are globally fixed-time stable.Compared with existing results,the“explosion of complexity”problem of backstepping control is avoided.Moreover,the two designed dynamic parameters are dependent on system states rather than a time-varying function,thus the proposed controller is still valid beyond the given fixedtime convergence instant.The effectiveness of the proposed method is demonstrated through two practical systems.展开更多
Tethered Space Net Robot(TSNR)is considered to be a promising approach for space debris removal,and accordingly it is also an interesting control problem due to its time-varying disturbances caused by an elastic and f...Tethered Space Net Robot(TSNR)is considered to be a promising approach for space debris removal,and accordingly it is also an interesting control problem due to its time-varying disturbances caused by an elastic and flexible net and a main connected tether.In this situation,the control scheme should be robust enough,low-frequency,and finite-time convergent in presence of external disturbances.In this paper,a robust controller with an advanced adaptive scheme is proposed.To improve robustness,the disturbance is skillfully involved in the adaptive scheme.It is strictly proven that the closed-loop system can converge to the desired trajectory in finite time in both reaching and sliding processes.Based on the theoretical proof,adaptive gains and corresponding dynamic stability characteristics are further discussed.Finally,the efficiency of the proposed control scheme is numerically proven via a TSNR.The proposed control scheme utilizes small and continuous control forces to compensate for the disturbance efficiently and track the desired trajectory quickly.展开更多
基金the Natural Science Foundation of Hebei Province under Grant Nos.F2020203105,F2017203130the National Natural Science Foundation of China under Grant Nos.61503323,61673294。
文摘A disturbance observer(DOB)based-backstepping sliding mode control scheme is discussed for a class of semi-strict nonlinear system with unknown parameters and mismatched uncertainty.Firstly,adaptive technique and DOB are respectively applied to tackle the unknown parameters and mismatched uncertainty,where the DOB can effectively alleviate the chattering problem of sliding mode control(SMC).Then,exponential sliding mode surface is proposed to improve the convergence rate of the sliding mode state.The‘explosion of complexity’problem inherent in conventional backstepping control is overcome by designing the novel first-order filter.The stability of the closed-loop system is analyzed in the framework of Lyapunov stability theory,in which the tracking error converges to an arbitrarily small neighborhood around zero(ASNZ).At last,two examples are given to illustrate the effectiveness of the proposed control strategy.
基金supported by the Engineering and Physical Sciences Research Council(No.K00946X/1)was partially supported by the National Natural Science Foundation of China(No.11301016).
文摘Many practical problems can be formulated as l0-minimization problems with nonnegativity constraints,which seek the sparsest nonnegative solutions to underdetermined linear systems.Recent study indicates that l1-minimization is efficient for solving l0-minimization problems.From a mathematical point of view,however,the understanding of the relationship between l0-and l1-minimization remains incomplete.In this paper,we further address several theoretical questions associated with these two problems.We prove that the fundamental strict complementarity theorem of linear programming can yield a necessary and sufficient condition for a linear system to admit a unique least l1-norm nonnegative solution.This condition leads naturally to the so-called range space property(RSP)and the “full-column-rank”property,which altogether provide a new and broad understanding of the equivalence and the strong equivalence between l0-and l1-minimization.Motivated by these results,we introduce the concept of “RSP of order K”that turns out to be a full characterization of uniform recovery of all K-sparse nonnegative vectors.This concept also enables us to develop a nonuniform recovery theory for sparse nonnegative vectors via the so-called weak range space property.
基金supported by the National Natural Science Foundation of China(61821004,U1964207,20221017-10)。
文摘This paper presents a novel fixed-time stabilization control(FSC)method for a class of strict-feedback nonlinear systems involving unmodelled system dynamics.The key feature of the proposed method is the design of two dynamic parameters.Specifically,a set of auxiliary variables is first introduced through state transformation.These variables combine the original system states and the two introduced dynamic parameters,facilitating the closed-loop system stability analyses.Then,the two dynamic parameters are delicately designed by utilizing the Lyapunov method,ensuring that all the closed-loop system states are globally fixed-time stable.Compared with existing results,the“explosion of complexity”problem of backstepping control is avoided.Moreover,the two designed dynamic parameters are dependent on system states rather than a time-varying function,thus the proposed controller is still valid beyond the given fixedtime convergence instant.The effectiveness of the proposed method is demonstrated through two practical systems.
基金supported by the National Natural Science Foundation of China(Nos.62222313 and 62173275)。
文摘Tethered Space Net Robot(TSNR)is considered to be a promising approach for space debris removal,and accordingly it is also an interesting control problem due to its time-varying disturbances caused by an elastic and flexible net and a main connected tether.In this situation,the control scheme should be robust enough,low-frequency,and finite-time convergent in presence of external disturbances.In this paper,a robust controller with an advanced adaptive scheme is proposed.To improve robustness,the disturbance is skillfully involved in the adaptive scheme.It is strictly proven that the closed-loop system can converge to the desired trajectory in finite time in both reaching and sliding processes.Based on the theoretical proof,adaptive gains and corresponding dynamic stability characteristics are further discussed.Finally,the efficiency of the proposed control scheme is numerically proven via a TSNR.The proposed control scheme utilizes small and continuous control forces to compensate for the disturbance efficiently and track the desired trajectory quickly.
