Model Reference-Based Control with Guaranteed Predefined Performance for Uncertain Strict-Feedback Systems
Fuente:
arXiv
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866915427660070912 |
|---|---|
| author | Shahna, Mehdi Heydari Humaloja, Jukka-Pekka Mattila, Jouni |
| author_facet | Shahna, Mehdi Heydari Humaloja, Jukka-Pekka Mattila, Jouni |
| contents | To address the complexities posed by time- and state-varying uncertainties and the computation of analytic derivatives in strict-feedback form (SFF) systems, this study introduces a novel model reference-based control (MRBC) framework which applies locally to each subsystem (SS), to ensure output tracking performance within the specified transient and steady-state response criteria. This framework includes 1) novel homogeneous adaptive estimators (HAEs) designed to match the uncertain nonlinear SFF system to a reference model, enabling easier analysis and control design at the level, and 2) model-based homogeneous adaptive controllers enhanced by logarithmic barrier Lyapunov functions (HAC-BLFs), intended to control the reference model provided by HAEs in each SS, while ensuring the prescribed tracking responses under control amplitude saturation. The inherently robust MRBC achieves uniformly exponential stability using a generic stability connector term, which addresses dynamic interactions between the adjacent SSs. The parameter sensitivities of HAEs and HAC-BLFs in the MRBC framework are analyzed, focusing on the system's robustness and responsiveness. The proposed MRBC framework is experimentally validated through several scenarios involving an electromechanical linear actuator system with an uncertain SFF, subjected loading disturbance forces challenging 0-95% of its capacity. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2502_03263 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Model Reference-Based Control with Guaranteed Predefined Performance for Uncertain Strict-Feedback Systems Shahna, Mehdi Heydari Humaloja, Jukka-Pekka Mattila, Jouni Systems and Control To address the complexities posed by time- and state-varying uncertainties and the computation of analytic derivatives in strict-feedback form (SFF) systems, this study introduces a novel model reference-based control (MRBC) framework which applies locally to each subsystem (SS), to ensure output tracking performance within the specified transient and steady-state response criteria. This framework includes 1) novel homogeneous adaptive estimators (HAEs) designed to match the uncertain nonlinear SFF system to a reference model, enabling easier analysis and control design at the level, and 2) model-based homogeneous adaptive controllers enhanced by logarithmic barrier Lyapunov functions (HAC-BLFs), intended to control the reference model provided by HAEs in each SS, while ensuring the prescribed tracking responses under control amplitude saturation. The inherently robust MRBC achieves uniformly exponential stability using a generic stability connector term, which addresses dynamic interactions between the adjacent SSs. The parameter sensitivities of HAEs and HAC-BLFs in the MRBC framework are analyzed, focusing on the system's robustness and responsiveness. The proposed MRBC framework is experimentally validated through several scenarios involving an electromechanical linear actuator system with an uncertain SFF, subjected loading disturbance forces challenging 0-95% of its capacity. |
| title | Model Reference-Based Control with Guaranteed Predefined Performance for Uncertain Strict-Feedback Systems |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2502.03263 |