Fuzzy echo state neural networks and funnel dynamic surface control for prescribed performance of a nonlinear dynamic system

IEEE Transactions on Industrial Electronics

Volumn 61, Issue 2, 2014, Pages 1099-1112

  Han, Seong I ^a   Lee, Jang M ^a  

^a Pusan National University   (South Korea)

Author keywords

Dynamic surface control; funnel error variable; fuzzy echo state networks (FESNs); prescribed output constraint

Indexed keywords

CLOSED LOOP CONTROL SYSTEMS; NEURAL NETWORKS; NONLINEAR DYNAMICAL SYSTEMS; ROBOT APPLICATIONS; UNCERTAINTY ANALYSIS;

APPROXIMATION PERFORMANCE; DYNAMIC SURFACE CONTROL; ECHO STATE NETWORKS; ECHO STATE NEURAL NETWORKS; ERROR VARIABLES; LYAPUNOV STABILITY ANALYSIS; LYAPUNOV STABILITY THEORY; PRESCRIBED OUTPUT CONSTRAINT;

APPROXIMATION ALGORITHMS;

EID: 84883019302     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2013.2253072     Document Type: Article

References (37)

1. K. Ngo and Z. Jiang, "Integrator backstepping using barrier functions for systems with multiple state constraints," in Proc. 4th IEEE Conf. Decis. Control Eur. Control Conf., 2005, pp. 8306-8312.
2. K. P. Tee, S. S. Ge, and E. H. Tay, "Barrier Lyapunov functions for the output-constrained nonlinear systems," Automatica, vol. 45, no. 4, pp. 918-927, Apr. 2009.
3. B. B. Ren, S. S. Ge, K. P. Tee, and T. H. Lee, "Adaptive neural control for output feedback nonlinear systems using a barrier Lyapunov function," IEEE Trans. Neural Netw., vol. 21, no. 8, pp. 1339-1345, Aug. 2010.
4. K. P. Tee, S. S. Ge, and E. H. Tay, "Adaptive control of electrostatic microactuator with bidirectional drive," IEEE Trans. Control Syst. Technol., vol. 17, no. 2, pp. 340-352, Mar. 2009.
5. K. P. Tee and S. S. Ge, "Control of nonlinear systems with partial state constraints using a barrier Lyapunov function," Int. J. Control, vol. 84, no. 12, pp. 2009-2023, Dec. 2011.
6. B. Niu and J. Zhao, "Tracking control for output-constrained nonlinear switched systems with a barrier Lyapunov function," Int. J. Syst. Sci., vol. 44, no. 5, pp. 978-985, May 2013, iFirst.
7. K. P. Tee, B. Ren, and S. S. Ge, "Control of nonlinear systems with timevarying output constraints," Automatica, vol. 47, no. 11, pp. 2511-2516, Nov. 2011, in press.
8. B. V. E. How, S. S. Ge, and Y. S. Choo, "Control of coupled vessel, crane, cable, and payload dynamics for subsea installation operation," IEEE Trans. Control Syst. Technol., vol. 19, no. 1, pp. 208-220, Jan. 2011.
9. M. Kristic, I. Kanellakopoulos, and P. V. Kokotovic, Nonlinear and Adaptive Control Design. New York, NY, USA: Wiley, 1995.
10. Y. Sun, M. Su, X. Li, H. Wang, and W. Gui, "Indirect four-leg matrix converter based on robust adaptive back-stepping control," IEEE Trans. Ind. Electron., vol. 58, no. 9, pp. 4288-4298, Sep. 2011.
11. Z. J. Yang, S. Hara, S. Kanae, and K. Wada, "Robust output feedback control of a class of nonlinear systems using a disturbance observer," IEEE Trans. Ind. Electron., vol. 19, no. 2, pp. 256-268, Mar. 2011.
12. C. P. Benchlioulis and G. A. Rovithakis, "Robust adaptive control of feedback linearizable MIMO nonlinear systems with prescribed performance," IEEE Trans. Autom. Control, vol. 53, no. 9, pp. 2090-2099, Oct. 2008.
13. C. P. Benchlioulis and G. A. Rovithakis, "Adaptive control with guaranteed transient and steady state tracking error bounds for strict feedback systems," Automatica, vol. 45, no. 2, pp. 532-538, Feb. 2009.
14. W. Wang and C. Wen, "Adaptive actuator failure compensation control of uncertain nonlinear systems with guaranteed transient performance," Automatica, vol. 46, no. 12, pp. 2082-2091, Dec. 2010.
15. C. P. Benchlioulis and G. A. Rovithakis, "Prescribed performance adaptive control for multi-input multi-output affine in the control nonlinear systems," IEEE Trans. Autom. Control, vol. 55, no. 5, pp. 1220-1226, May 2010.
16. C. P. Benchlioulis and G. A. Rovithakis, "Neuro-adaptive force/position control with prescribed performance and guaranteed contact maintenance," IEEE Trans. Neural Netw., vol. 21, no. 12, pp. 1857-1868, Dec. 2010.
17. X. L. Xie, Z. G. Hou, L. Cheng, C. Ji,M. Tan, and H. Yu, "Adaptive neural network tracking control of robot manipulators with prescribed performance," Proc. IMechE-J. Syst. Control Eng., vol. 225, no. 6, pp. 790- 797, Sep. 2011.
18. C. P. Benchlioulis and G. A. Rovithakis, "Robust partial-state feedback prescribed performance control of cascade systems with unknown nonlinearities," IEEE Trans. Autom. Control, vol. 56, no. 9, pp. 2224-2230, Sep. 2011.
19. A. Ilchman, E. P. Ryan, and C. J. Sangwin, "Tracking with prescribed transient behavior," ESAIM-Control, Optim., Calculus Variations, EDP Sci., vol. 7, pp. 471-493, 2002.
20. A. Ilchman and H. Schuster, "Tracking control with prescribed transient behavior degree," Syst. Control Lett., vol. 55, no. 5, pp. 396-406, May 2006.
21. A. Ilchman, E. P. Ryan, and S. Trenn, "PI-funnel control for two mass systems," IEEE Trans. Autom. Control, vol. 54, no. 4, pp. 918-923, Apr. 2009.
22. C. M. Hackl, C. Endisch, and D. Schroder, "Contribution to non-identifier based adaptive control in mechatronics," Robot. Auton. Syst., vol. 57, no. 10, pp. 996-1005, Oct. 2009.
23. C. M. Hackl, "High-gain position control," Int. J. Control, vol. 84, no. 10, pp. 1695-1716, Oct. 2011.
24. S. Swaroop, J. K. Hedrick, P. P. Yip, and J. C. Gerdes, "Dynamic surface control for a class of nonlinear systems," IEEE Trans. Autom. Control, vol. 45, no. 10, pp. 1893-1899, Oct. 2000. (Pubitemid 32067065)
25. J. K. Hedrick and P. P. Yip, "Multiple sliding surface control: Theory and application," J. Dyn. Sys., Meas., Control , vol. 122, no. 4, pp. 586-593, Feb. 2000.
26. Q. Zhou, P. Shi, J. Lu, and S. Xu, "Adaptive output-feedback fuzzy tracking control for a class of nonlinear systems," IEEE Trans. Fuzzy Syst., vol. 19, no. 5, pp. 972-982, Oct. 2011.
27. H.-P. Huang, J.-L. Yan, and T.-H. Cheng, "Development and fuzzy control of a pipe inspection robot," IEEE Trans. Ind. Electron., vol. 57, no. 3, pp. 1088-1095, Mar. 2010.
28. O. Linda and M. Manic, "Fuzzy force-feedback augmentation for manual control of multirobot system," IEEE Trans. Ind. Electron., vol. 58, no. 8, pp. 3213-3220, Aug. 2011.
29. R. E. Precup, R. C. David, E. M. Petriu, S. Preitl, andM. B. Radac, "Fuzzy control systems with reduced parametric sensitivity based on simulated annealing," IEEE Trans. Ind. Electron., vol. 59, no. 8, pp. 3049-3061, Aug. 2012.
30. Q. Zhou, P. Shi, H. Lu, and S. Xu, "Neural-network-based decentralized adaptive output-feedback control for large-scale stochastic nonlinear systems," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 42, no. 6, pp. 1608-1619, Dec. 2012.
31. R. J. Williams and D. Zisper, "An efficient gradient-based algorithm for on-line training of recurrent networks," Neural Comput., vol. 2, no. 4, pp. 490-501, Winter 1990.
32. C. C. Ku and K. Y. Lee, "Diagonal recurrent development neural networks for dynamic systems control," IEEE Trans. Neural Netw., vol. 6, no. 1, pp. 144-156, Jan. 1995.
33. H. Jaeger, "The 'echo state' approach to analyzing and training recurrent neural networks," German Nat. Res. Center Inf. Technol., St. Augustin, Germany, GMD Rep. 148, 2001.
34. H. Jaeger, L. Mantas, P. Dan P, and S. Udo, "Optimization and application of echo state networks with leaky integrator neurons," Neural Netw., vol. 20, no. 3, pp. 335-352, Apr. 2007. (Pubitemid 46876638)
35. L. X. Wang, Adaptive Fuzzy Systems and Control: Design and Stability Analysis. Englewood Cliffs, NJ, USA: Prentice-Hall, 1994.
36. K. I. Funahashi and Y. Nakamura, "Approximation of dynamical systems by continuous time recurrent neural networks," Neural Netw., vol. 6, no. 6, pp. 801-806, 1993. (Pubitemid 23713279)
37. MF 624 Multifunction I/O Card Manual, Humusoft Comp., Praha, Czech Republic, 2006.