Observer based approach for a class of nonlinear systems using Rise feedback controller

This paper presents a new control scheme for a class of nonlinear systems. Inthe proposed method, an adaptive neural network observer with Rise feedbackcontroller are applied to realize sensorless control scheme. This observer is tunedonline and no exact information of nonlinear term of plant is required. So, thischaracteristic can compensate mismodeling phenomena. Also, a new controllercalled Robust Integral of the Sign of the Error (Rise) is considered to realize controlpurpose. This controller is inspired from 2nd order sliding mode while it can controlsystem with different relative degree. Also, its chattering is acceptable incomparison with sliding mode strategy. This observer based control scheme isconsidered for modified Duffing chaotic system. The modified Duffing system isderived from Metamorphic shape-changing Underwater autonomous vehicle(MUV). The chaotic behavior of modified Duffing system has a negative impact onMUV performance. Therefore, the controlling of this system can be important. Inorder to assess the performance of the proposed method, this strategy is comparedwith observer-based sliding mode control. The comparison results confirm theadvantages of proposed method.

کلیدواژه ها:

Rise feedback ، twisting algorithm ، neural network ، adaptive observer ، nonlinear system