dc.contributor.author | Kayacan, Erkan | |
dc.contributor.author | Fossen, Thor I. | |
dc.date.accessioned | 2021-09-20T07:57:23Z | |
dc.date.available | 2021-09-20T07:57:23Z | |
dc.date.created | 2019-03-07T08:44:34Z | |
dc.date.issued | 2018 | |
dc.identifier.citation | Asian journal of control. 2018, 1-13. | en_US |
dc.identifier.issn | 1561-8625 | |
dc.identifier.uri | https://hdl.handle.net/11250/2779078 | |
dc.description.abstract | This paper focuses on a novel feedback linearization control (FLC) law based on a self-learning disturbance observer (SLDO) to counteract mismatched uncertainties. The FLC based on BNDO (FLC-BNDO) demonstrates robust control performance only against mismatched time-invariant uncertainties while the FLC based on SLDO (FLC-SLDO) demonstrates robust control performance against mismatched time-invariant and -varying uncertainties, and both of them maintain the nominal control performance in the absence of mismatched uncertainties. In the estimation scheme for the SLDO, the BNDO is used to provide a conventional estimation law, which is used as the learning error for the type-2 neuro-fuzzy system (T2NFS), and T2NFS learns mismatched uncertainties. Thus, the T2NFS takes the overall control of the estimation signal entirely in a very short time and gives unbiased estimation results for the disturbance. A novel learning algorithm established on sliding mode control theory is derived for an interval type-2 fuzzy logic system. The stability of the overall system is proven for a second-order nonlinear system with mismatched uncertainties. The simulation results show that the FLC-SLDO demonstrates better control performance than the traditional FLC, FLC with an integral action (FLC-I), and FLC-BNDO. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Wiley | en_US |
dc.title | Feedback Linearization Control for Systems with Mismatched Uncertainties via Disturbance Observers | en_US |
dc.type | Peer reviewed | en_US |
dc.type | Journal article | en_US |
dc.description.version | acceptedVersion | en_US |
dc.source.pagenumber | 1-13 | en_US |
dc.source.journal | Asian journal of control | en_US |
dc.identifier.doi | 10.1002/asjc.1802 | |
dc.identifier.cristin | 1682777 | |
dc.description.localcode | This is the peer reviewed version of an article, which has been published in final form at [https://doi.org/10.1002/asjc.1802]. This article may be used for non-commercial purposes in accordance with Wiley Terms and Conditions for Self-Archiving. " | en_US |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | original | |
cristin.qualitycode | 1 | |