Pub Date : 2024-10-03DOI: 10.1016/j.jfranklin.2024.107293
Ruimin Xu, Xiaolong Wang, Keran Sun, Rongwei Guo
This paper is concerned with the stabilization of linear time-invariant (LTI) systems with unknown parameters and external disturbances. Firstly, four types of suitable filters are presented and applied to achieve the accuracy estimate of the disturbances. Based on these filters, four types of disturbance estimators are designed and used to asymptotically cancel the corresponding disturbances. Secondly, an adaptive disturbance estimator (DE)-based control method is obtained by combining the adaptive control method with the DE-based control method. It is noted that the algebraic representation of the adaptive feedback control law is given in a more concise form by the tool of the semi-tensor product of matrix. Further, the stabilization of LTI systems is achieved by the obtained adaptive DE-based control method. Finally, three numerical examples with computer simulation are provided to verify the correctness and validity of the obtained theoretical methods.
本文主要研究具有未知参数和外部干扰的线性时变（LTI）系统的稳定问题。首先，本文提出并应用了四种合适的滤波器来实现扰动的精确估计。在这些滤波器的基础上，设计了四种扰动估计器，用于近似消除相应的扰动。其次，通过将自适应控制方法与基于扰动估计器（DE）的控制方法相结合，得到了一种基于自适应扰动估计器（DE）的控制方法。通过矩阵的半张量积工具，自适应反馈控制法的代数表示形式更加简洁。此外，基于 DE 的自适应控制方法实现了 LTI 系统的稳定。最后，通过计算机仿真提供了三个数值示例，以验证所获理论方法的正确性和有效性。
{"title":"Stabilization of LTI systems with both uncertainties and external disturbances via DE-based control method","authors":"Ruimin Xu, Xiaolong Wang, Keran Sun, Rongwei Guo","doi":"10.1016/j.jfranklin.2024.107293","DOIUrl":"10.1016/j.jfranklin.2024.107293","url":null,"abstract":"<div><div>This paper is concerned with the stabilization of linear time-invariant (LTI) systems with unknown parameters and external disturbances. Firstly, four types of suitable filters are presented and applied to achieve the accuracy estimate of the disturbances. Based on these filters, four types of disturbance estimators are designed and used to asymptotically cancel the corresponding disturbances. Secondly, an adaptive disturbance estimator (DE)-based control method is obtained by combining the adaptive control method with the DE-based control method. It is noted that the algebraic representation of the adaptive feedback control law is given in a more concise form by the tool of the semi-tensor product of matrix. Further, the stabilization of LTI systems is achieved by the obtained adaptive DE-based control method. Finally, three numerical examples with computer simulation are provided to verify the correctness and validity of the obtained theoretical methods.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"361 17","pages":"Article 107293"},"PeriodicalIF":3.7,"publicationDate":"2024-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142420820","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This article investigates the Pareto optimality of infinite horizon cooperative linear quadratic (LQ) differential games by policy iteration technique where the system dynamics are partially or completely unknown. Firstly, the policy iteration algorithm for the approximate solutions of the corresponding algebraic Riccati equation (ARE) without any prior knowledge of the matrix parameters of the dynamic system is derived by collecting the input and state information of each player. Secondly, when the presented specific rank condition is satisfied, the convergence of the proposed algorithm is rigorously demonstrated by recursion. Moreover, the weighting approach is employed to obtain the Pareto optimal strategy and the Pareto optimal solutions on the basis of the convex optimization theory. Finally, simulation results are reported to verify the feasibility and correctness of the proposed theoretical results.
{"title":"Policy iteration based cooperative linear quadratic differential games with unknown dynamics","authors":"Jingbo Zhao, Zihao Zhao, Haiyi Yang, Chenchen Peng","doi":"10.1016/j.jfranklin.2024.107301","DOIUrl":"10.1016/j.jfranklin.2024.107301","url":null,"abstract":"<div><div>This article investigates the Pareto optimality of infinite horizon cooperative linear quadratic (LQ) differential games by policy iteration technique where the system dynamics are partially or completely unknown. Firstly, the policy iteration algorithm for the approximate solutions of the corresponding algebraic Riccati equation (ARE) without any prior knowledge of the matrix parameters of the dynamic system is derived by collecting the input and state information of each player. Secondly, when the presented specific rank condition is satisfied, the convergence of the proposed algorithm is rigorously demonstrated by recursion. Moreover, the weighting approach is employed to obtain the Pareto optimal strategy and the Pareto optimal solutions on the basis of the convex optimization theory. Finally, simulation results are reported to verify the feasibility and correctness of the proposed theoretical results.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"361 18","pages":"Article 107301"},"PeriodicalIF":3.7,"publicationDate":"2024-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142420641","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-10-01DOI: 10.1016/j.jfranklin.2024.107309
Chen Chen, Jinghao Li, Huimin Wang
This paper investigates the adaptive tracking problems of switched single-input single-output strict-feedback nonlinear systems with state quantization and sensor faults. In order to alleviate the influence of the potential sensor faults and smooth the discontinuous quantized signals, a state observer is established. Then, an observer-based adaptive quantized fault-tolerant controller is designed by introducing a set of new error variables. It is shown that the presented approach can enable the output tracking error to be arbitrarily small. At last, three examples are given to illustrate the effectiveness of the presented method.
{"title":"An observer-based approach to adaptive tracking for switched strict-feedback nonlinear systems with state quantization and sensor faults","authors":"Chen Chen, Jinghao Li, Huimin Wang","doi":"10.1016/j.jfranklin.2024.107309","DOIUrl":"10.1016/j.jfranklin.2024.107309","url":null,"abstract":"<div><div>This paper investigates the adaptive tracking problems of switched single-input single-output strict-feedback nonlinear systems with state quantization and sensor faults. In order to alleviate the influence of the potential sensor faults and smooth the discontinuous quantized signals, a state observer is established. Then, an observer-based adaptive quantized fault-tolerant controller is designed by introducing a set of new error variables. It is shown that the presented approach can enable the output tracking error to be arbitrarily small. At last, three examples are given to illustrate the effectiveness of the presented method.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"361 18","pages":"Article 107309"},"PeriodicalIF":3.7,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142420765","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-30DOI: 10.1016/j.jfranklin.2024.107303
Bei Sun, Zhixuan Peng, Mingjie Lv, Maopeng Li, Ran Hong, Yonggang Li, Dehao Wu
Electrolysis is the primary energy-consuming process in zinc hydrometallurgy. Time-of-use pricing policy has caused changes in the optimal operating conditions of the electrolysis cell, necessitating adjustments to key parameters such as current density and the acid-to-zinc ratio to migrate it to the desired operational state. However, while the current density can be switched instantaneously, adjustments to the acid-to-zinc ratio occur slowly, leading to a prolonged mismatch between these key parameters, increasing energy consumption. To address this problem, this paper proposes a co-optimized control method of key parameters during the operating state migration in zinc electrolysis process. First, a co-optimization model is established with current density and acid-to-zinc ratio as decision variables. Next, a cascade control framework is designed in which the current density controller is subordinate to the acid-to-zinc ratio controller, transforming the problem of solving the co-optimization model into a parameter optimization problem for the acid-to-zinc ratio controller. Finally, a fitness function representing energy efficiency, control performance, and zinc yield during the operating state migration in zinc electrolysis process is designed, and a heuristic algorithm is employed to find the optimal parameters for the acid-to-zinc ratio controller. This achieves the optimal trajectory migration of the operating state in the zinc electrolysis process. Simulation experiments demonstrate that the proposed method can reduce energy consumption during the operating state migration without compromising production efficiency, offering a new approach to energy-saving in the zinc electrolysis industry.
{"title":"A co-optimized control method of key parameters during operating state migration in zinc electrolysis process","authors":"Bei Sun, Zhixuan Peng, Mingjie Lv, Maopeng Li, Ran Hong, Yonggang Li, Dehao Wu","doi":"10.1016/j.jfranklin.2024.107303","DOIUrl":"10.1016/j.jfranklin.2024.107303","url":null,"abstract":"<div><div>Electrolysis is the primary energy-consuming process in zinc hydrometallurgy. Time-of-use pricing policy has caused changes in the optimal operating conditions of the electrolysis cell, necessitating adjustments to key parameters such as current density and the acid-to-zinc ratio to migrate it to the desired operational state. However, while the current density can be switched instantaneously, adjustments to the acid-to-zinc ratio occur slowly, leading to a prolonged mismatch between these key parameters, increasing energy consumption. To address this problem, this paper proposes a co-optimized control method of key parameters during the operating state migration in zinc electrolysis process. First, a co-optimization model is established with current density and acid-to-zinc ratio as decision variables. Next, a cascade control framework is designed in which the current density controller is subordinate to the acid-to-zinc ratio controller, transforming the problem of solving the co-optimization model into a parameter optimization problem for the acid-to-zinc ratio controller. Finally, a fitness function representing energy efficiency, control performance, and zinc yield during the operating state migration in zinc electrolysis process is designed, and a heuristic algorithm is employed to find the optimal parameters for the acid-to-zinc ratio controller. This achieves the optimal trajectory migration of the operating state in the zinc electrolysis process. Simulation experiments demonstrate that the proposed method can reduce energy consumption during the operating state migration without compromising production efficiency, offering a new approach to energy-saving in the zinc electrolysis industry.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"361 18","pages":"Article 107303"},"PeriodicalIF":3.7,"publicationDate":"2024-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142420764","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-29DOI: 10.1016/j.jfranklin.2024.107308
Lihao Wang , Aijun Li , Hongshi Lu , Changqing Wang , Yuriy Zabolotnov
This article investigates the distributed adaptive finite-time containment control problem for multi-UAVs with input constraints, actuator failures, communication limitations, and external disturbances. First, a new smoothing function is used to smooth the asymmetric input constraint signals so that the input constraint and actuator fault control problem can be transformed into a variable gain control problem. Subsequently, a new Nussbaum function is proposed to solve the variable gain control problem. A new adaptive event-triggered strategy is designed to solve the communication limitation problem, and the trigger threshold has the characteristic of adaptive adjustment that can be dynamically decreased. In response to external disturbances, an adaptive law is designed to estimate and compensate for the boundaries of disturbances. It follows from the analysis based on Lyapunov theory that under the proposed controller, the followers will converge to the convex envelope formed by the leaders in a finite time, and Zeno-free is achieved. Simulation results are provided to verify the effectiveness of the developed adaptive event-triggered finite-time fault-tolerant containment control laws.
{"title":"Distributed adaptive event-triggered finite-time fault-tolerant containment control for multi-UAVs with input constraints and actuator failures","authors":"Lihao Wang , Aijun Li , Hongshi Lu , Changqing Wang , Yuriy Zabolotnov","doi":"10.1016/j.jfranklin.2024.107308","DOIUrl":"10.1016/j.jfranklin.2024.107308","url":null,"abstract":"<div><div>This article investigates the distributed adaptive finite-time containment control problem for multi-UAVs with input constraints, actuator failures, communication limitations, and external disturbances. First, a new smoothing function is used to smooth the asymmetric input constraint signals so that the input constraint and actuator fault control problem can be transformed into a variable gain control problem. Subsequently, a new Nussbaum function is proposed to solve the variable gain control problem. A new adaptive event-triggered strategy is designed to solve the communication limitation problem, and the trigger threshold has the characteristic of adaptive adjustment that can be dynamically decreased. In response to external disturbances, an adaptive law is designed to estimate and compensate for the boundaries of disturbances. It follows from the analysis based on Lyapunov theory that under the proposed controller, the followers will converge to the convex envelope formed by the leaders in a finite time, and Zeno-free is achieved. Simulation results are provided to verify the effectiveness of the developed adaptive event-triggered finite-time fault-tolerant containment control laws.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"361 18","pages":"Article 107308"},"PeriodicalIF":3.7,"publicationDate":"2024-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142420761","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-28DOI: 10.1016/j.jfranklin.2024.107304
Zhenhan Ye , Zehua Ye , Dan Zhang , Jun Cheng
The trajectory tracking control of wheeled mobile robots (WMRs) under False Data Injection (FDI) attacks is investigated in this paper. First, to mitigate the impact of FDI attacks, a finite-time extended state observer (FTESO) is constructed. The error dynamic of the tracking control system is then split up into two subsystems via the cascaded control approach, and a one-to-one finite-time control law is designed for both subsystems. Second, a new stability condition is proposed to ensure that the tracking error system is finite-time globally uniform ultimate bounded (GUUB) and the tracking error can converge into a compact set. Finally, it is validated that the proposed control method is effective through simulation studies.
{"title":"Extended state observer-based finite-time trajectory tracking control for wheeled mobile robots under FDI attacks","authors":"Zhenhan Ye , Zehua Ye , Dan Zhang , Jun Cheng","doi":"10.1016/j.jfranklin.2024.107304","DOIUrl":"10.1016/j.jfranklin.2024.107304","url":null,"abstract":"<div><div>The trajectory tracking control of wheeled mobile robots (WMRs) under False Data Injection (FDI) attacks is investigated in this paper. First, to mitigate the impact of FDI attacks, a finite-time extended state observer (FTESO) is constructed. The error dynamic of the tracking control system is then split up into two subsystems via the cascaded control approach, and a one-to-one finite-time control law is designed for both subsystems. Second, a new stability condition is proposed to ensure that the tracking error system is finite-time globally uniform ultimate bounded (GUUB) and the tracking error can converge into a compact set. Finally, it is validated that the proposed control method is effective through simulation studies.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"361 18","pages":"Article 107304"},"PeriodicalIF":3.7,"publicationDate":"2024-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142420760","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-28DOI: 10.1016/j.jfranklin.2024.107305
Youdao Ma , Cunxi Zheng , Zhenhua Wang , Tuochen Li , Yi Shen
This paper studies fault detection for discrete-time switched systems with parameter uncertainties and time delays. First, a state augmentation method is presented to decouple the effect of time delays. Then, a novel residual generator structure based on priori state estimation is introduced, and the adaptive thresholds for residual evaluation are computed via zonotope techniques. Meanwhile, peak-to-peak performance and performance are adopted to design the residual generator, ensuring both uncertainty robustness and fault sensitivity. Finally, numerical simulation results are provided to demonstrate the effectiveness and superiority of the proposed method.
{"title":"A zonotope-based fault detection method for switched systems with parameter uncertainties and multiple time delays","authors":"Youdao Ma , Cunxi Zheng , Zhenhua Wang , Tuochen Li , Yi Shen","doi":"10.1016/j.jfranklin.2024.107305","DOIUrl":"10.1016/j.jfranklin.2024.107305","url":null,"abstract":"<div><div>This paper studies fault detection for discrete-time switched systems with parameter uncertainties and time delays. First, a state augmentation method is presented to decouple the effect of time delays. Then, a novel residual generator structure based on priori state estimation is introduced, and the adaptive thresholds for residual evaluation are computed via zonotope techniques. Meanwhile, peak-to-peak performance and <span><math><msub><mrow><mi>H</mi></mrow><mrow><mo>−</mo></mrow></msub></math></span> performance are adopted to design the residual generator, ensuring both uncertainty robustness and fault sensitivity. Finally, numerical simulation results are provided to demonstrate the effectiveness and superiority of the proposed method.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"361 18","pages":"Article 107305"},"PeriodicalIF":3.7,"publicationDate":"2024-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142420762","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-28DOI: 10.1016/j.jfranklin.2024.107296
Jaime A. Moreno, Juan F. García-Mathey
A novel MIMO Super-Twisting Algorithm is proposed in this paper for nonlinear systems with relative degree one, having a time and state-varying uncertain control matrix. The uncertainty is represented by a time and state-varying but unknown left matrix factor. Sufficient conditions for stability with full-matrix control gains are established, in contrast to the usual scalar gains. For this a smooth Lyapunov function, based on a passivity interpretation, is used. Moreover, continuous and homogeneous approximations of the classical discontinuous Super-Twisting algorithm are obtained, using a unified analysis method. Moreover, the proposed Super-Twisting algorithm is of the discontinuous type, in contrast to the usual unitary type.
本文提出了一种新颖的 MIMO 超级扭转算法，适用于具有时变和状态变量不确定控制矩阵的相对阶数为 1 的非线性系统。不确定性由时间和状态变化但未知的左矩阵因子表示。与通常的标量增益不同，本文建立了全矩阵控制增益稳定性的充分条件。为此，使用了基于被动性解释的平滑 Lyapunov 函数。此外，利用统一的分析方法，还获得了经典不连续超级扭曲算法的连续和同质近似值。此外，所提出的超级扭转算法是非连续型的，而不是通常的单元型。
{"title":"MIMO Super-Twisting Controller using a passivity-based design","authors":"Jaime A. Moreno, Juan F. García-Mathey","doi":"10.1016/j.jfranklin.2024.107296","DOIUrl":"10.1016/j.jfranklin.2024.107296","url":null,"abstract":"<div><div>A novel MIMO Super-Twisting Algorithm is proposed in this paper for nonlinear systems with relative degree one, having a time and state-varying uncertain control matrix. The uncertainty is represented by a time and state-varying but unknown left matrix factor. Sufficient conditions for stability with full-matrix control gains are established, in contrast to the usual scalar gains. For this a smooth Lyapunov function, based on a passivity interpretation, is used. Moreover, continuous and homogeneous approximations of the classical discontinuous Super-Twisting algorithm are obtained, using a unified analysis method. Moreover, the proposed Super-Twisting algorithm is of the discontinuous type, in contrast to the usual unitary type.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"361 17","pages":"Article 107296"},"PeriodicalIF":3.7,"publicationDate":"2024-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142420823","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-27DOI: 10.1016/j.jfranklin.2024.107300
Jiguang Peng , Hanzhen Xiao , Guanyu Lai , C.L. Philip Chen
This paper addresses the problem of distributed consensus-based formation control for wheeled mobile robots (WMRs) under the influence of mixed disturbances, including both random noise and non-random disturbances. A consensus formation auxiliary subsystem is constructed based on the leader’s position estimated by the distributed estimator. A formation tracking subsystem for each robot is constructed based on the trajectory tracking error method. The above two subsystems are constructed into an extended formation modeling system. Further, a distributed model predictive control (DMPC) is designed to control this system without disturbance, and the controller is solved by means of a general-purpose neural network. A combination of Kalman filter (KF) and extended state observer (ESO) is intended to reduce the effect of both non-random disturbances and random noise, hence increasing the controller’s resilience to disturbances. Moreover, a composite control law is designed to ensure the controller’s effectiveness. Finally, simulation results demonstrate that the proposed control strategy is well-suited to addressing the problem, as it not only achieves accurate formation control but also effectively regulates the robot’s physical constraints while suppressing both non-random disturbances and random noise.
{"title":"Consensus formation control of wheeled mobile robots with mixed disturbances under input constraints","authors":"Jiguang Peng , Hanzhen Xiao , Guanyu Lai , C.L. Philip Chen","doi":"10.1016/j.jfranklin.2024.107300","DOIUrl":"10.1016/j.jfranklin.2024.107300","url":null,"abstract":"<div><div>This paper addresses the problem of distributed consensus-based formation control for wheeled mobile robots (WMRs) under the influence of mixed disturbances, including both random noise and non-random disturbances. A consensus formation auxiliary subsystem is constructed based on the leader’s position estimated by the distributed estimator. A formation tracking subsystem for each robot is constructed based on the trajectory tracking error method. The above two subsystems are constructed into an extended formation modeling system. Further, a distributed model predictive control (DMPC) is designed to control this system without disturbance, and the controller is solved by means of a general-purpose neural network. A combination of Kalman filter (KF) and extended state observer (ESO) is intended to reduce the effect of both non-random disturbances and random noise, hence increasing the controller’s resilience to disturbances. Moreover, a composite control law is designed to ensure the controller’s effectiveness. Finally, simulation results demonstrate that the proposed control strategy is well-suited to addressing the problem, as it not only achieves accurate formation control but also effectively regulates the robot’s physical constraints while suppressing both non-random disturbances and random noise.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"361 17","pages":"Article 107300"},"PeriodicalIF":3.7,"publicationDate":"2024-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142420818","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-27DOI: 10.1016/j.jfranklin.2024.107302
Mojtaba Hosseini Toodeshki , Qijia Yao
This paper deals with the problem of fuzzy adaptive fixed-time control for a class of uncertain nonlinear nonstrict feedback systems with time delays and output constraints. The negative effects of time delays on system performance and stability are overcome by introducing a new Barrier Lyapunov–Krasovskii (BLK) function and an innovative inequality. In addition, the singularity problem that arises in the process of deriving the control and adaptive laws, is solved by the proposed BLK function. The controller is designed in the backstepping framework which ensures that the system output does not violate predefined constraints. The proposed controller needs less information from the system and therefore has less implementation complexity than previous references, which leads to a more straightforward implementation. A fuzzy system approximation is utilized to overcome the uncertainties of the model. It is guaranteed that all closed-loop system signals converge to small neighborhoods around zero in a fixed time. Finally, an example is presented to verify that the proposed method achieves the control objectives.
{"title":"Fuzzy adaptive fixed-time control for output-constrained uncertain nonstrict-feedback time-delay systems","authors":"Mojtaba Hosseini Toodeshki , Qijia Yao","doi":"10.1016/j.jfranklin.2024.107302","DOIUrl":"10.1016/j.jfranklin.2024.107302","url":null,"abstract":"<div><div>This paper deals with the problem of fuzzy adaptive fixed-time control for a class of uncertain nonlinear nonstrict feedback systems with time delays and output constraints. The negative effects of time delays on system performance and stability are overcome by introducing a new Barrier Lyapunov–Krasovskii (BLK) function and an innovative inequality. In addition, the singularity problem that arises in the process of deriving the control and adaptive laws, is solved by the proposed BLK function. The controller is designed in the backstepping framework which ensures that the system output does not violate predefined constraints. The proposed controller needs less information from the system and therefore has less implementation complexity than previous references, which leads to a more straightforward implementation. A fuzzy system approximation is utilized to overcome the uncertainties of the model. It is guaranteed that all closed-loop system signals converge to small neighborhoods around zero in a fixed time. Finally, an example is presented to verify that the proposed method achieves the control objectives.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"361 17","pages":"Article 107302"},"PeriodicalIF":3.7,"publicationDate":"2024-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142420681","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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