Adaptive neural network control for a hydraulic knee exoskeleton with valve deadband and output constraint based on nonlinear disturbance observer

Adaptive Control Based on Neural Observer for Nonlinear Systems

A neural network (NN) based adaptive output feedback controller is proposed for a class of nonlinear systems. In this control scheme, the adaptive output feedback NN controller is proposed by using an observer to estimate the states of the system. The weights of the neural network can be adjusted in terms of Lyapnuov’s stability criterion. The proposed controller can be applied to nonlinear sys...

Neural Network Control Based on Adaptive Observer for Quadrotor Helicopter

A neural network control scheme with an adaptive observer is proposed in this paper to Quadrotor helicopter stabilization. The unknown part in Quadrotor dynamical model was estimated on line by a Single Hidden Layer network. To solve the non measurable states problem a new adaptive observer was proposed. The main purpose here is to reduce the measurement noise amplification caused by convention...

Nonlinear disturbance observer-based control for multi-input multi-output nonlinear systems subject to mismatching condition

Adaptive Observer-Based Decentralized Scheme for Robust Nonlinear Power Flow Control Using HPFC

This paper investigates the robust decentralized nonlinear control of power flow in a power system using a new configuration of UPFC. This structure comprises two shunt converters and one series capacitor called as hybrid power flow controller (HPFC). A controller is designed via control Lyapunov function (CLF) and adaptive observer to surmount the problems of stability such as tracking desired...

Nonlinear Adaptive Robust Control of Hydraulic Actuators Regulated by Proportional Directional Control Valves with Deadband and Nonlinear Flow Gains

This paper studies the motion control of single-rod hydraulic actuators regulated by proportional directional control(PDC) valves with deadband and nonlinear flow gains. The boom motion control of a hydraulic robot arm driven by a singlerod hydraulic actuator is used as a case study. The experimental system dynamics are highly nonlinear. In addition, the system has large extent of modeling unce...