Research on a New Singularity-Free Controller for Uncertain Lorenz System

It is a challenge problem to stably control the well-known Lorenz system with uncertain parameters because of its nonlinearity and singularity. In this paper, by combining Zhang dynamics (ZD) and gradient-algorithm, a novel Zhang-Gradient (ZG) controller is designed and developed for solving the controlling problem of the uncertainty Lorenz system. In order to improve computing efficiency, the stochastic parallel gradient descent algorithm is also introduced to perform an incremental adjustment of the unknown parameters for the uncertain Lorenz system. The presented theoretical analysis in this paper shows that our such presented method could conquer the possible singularity which is a difficult problem in typical backstepping controller design. The computer simulation results exhibit that, the controlled system can be stable globally and the tracking error converges to zero asymptotically, which are further demonstrate the effectiveness and feasibility of our presented ZG controller.