Pub Date : 2024-09-19DOI: 10.1177/09596518241276228
Yunjun Chen, Bolin Dong, Xiehuan Li
The hybrid-triggered quantized H∞ control problem is investigated for discrete-time Markov jump systems (MJSs) under hybrid cyber attacks. A novel hybrid-triggered mechanism obeying Bernoulli distribution between the time-triggered mechanism and the adaptive event-triggered mechanism is introduced. The triggered condition considers the average value between current measured output and latest triggered output to avoid the unnecessary triggered data released. Meanwhile, a quantizer is adopted to optimize the data transmission rate and an observer-based controller is designed to resist the impact of deception attacks and aperiodic DoS attacks on the system. Utilizing Lyapunov stability theory and iterative methods, sufficient conditions are obtained to ensure that the closed-loop MJSs are asymptotically mean-square stable with H∞ performance. Then, an algorithm for gain matrices and triggered matrices is given. Finally, the effectiveness and availability of the proposed method are verified by a numerical example and a DC motor model.
研究了混合网络攻击下离散时间马尔可夫跃迁系统（MJS）的混合触发量化 H∞ 控制问题。引入了一种介于时间触发机制和自适应事件触发机制之间、服从伯努利分布的新型混合触发机制。触发条件考虑了当前测量输出与最新触发输出之间的平均值，以避免释放不必要的触发数据。同时，采用量化器优化数据传输速率，并设计了基于观测器的控制器，以抵御欺骗攻击和非周期性 DoS 攻击对系统的影响。利用李亚普诺夫稳定性理论和迭代法，得到了确保闭环 MJS 近似均方稳定且性能为 H∞ 的充分条件。然后，给出了增益矩阵和触发矩阵的算法。最后，通过一个数值实例和一个直流电机模型验证了所提方法的有效性和可用性。
{"title":"Hybrid-triggered H∞ control for Markov jump systems with quantizations and hybrid attacks","authors":"Yunjun Chen, Bolin Dong, Xiehuan Li","doi":"10.1177/09596518241276228","DOIUrl":"https://doi.org/10.1177/09596518241276228","url":null,"abstract":"The hybrid-triggered quantized H<jats:sub>∞</jats:sub> control problem is investigated for discrete-time Markov jump systems (MJSs) under hybrid cyber attacks. A novel hybrid-triggered mechanism obeying Bernoulli distribution between the time-triggered mechanism and the adaptive event-triggered mechanism is introduced. The triggered condition considers the average value between current measured output and latest triggered output to avoid the unnecessary triggered data released. Meanwhile, a quantizer is adopted to optimize the data transmission rate and an observer-based controller is designed to resist the impact of deception attacks and aperiodic DoS attacks on the system. Utilizing Lyapunov stability theory and iterative methods, sufficient conditions are obtained to ensure that the closed-loop MJSs are asymptotically mean-square stable with H<jats:sub>∞</jats:sub> performance. Then, an algorithm for gain matrices and triggered matrices is given. Finally, the effectiveness and availability of the proposed method are verified by a numerical example and a DC motor model.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"19 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142259211","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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 : 2024-09-14DOI: 10.1177/09596518241276233
Selman Djeffal, Abdelhamid Ghoul, Abdelhakim Saadi, Zineddine Izri, Mohamed Razi Morakchi, Hoa Wang
The first aspect of the paper focuses on presenting the innovative design of a new continuum robot, which was initially conceptualized using SolidWorks and then brought to life through 3D printing. This section illustrates the construction process, detailing the wiring method and the separator between each section of the robot. A key feature of the newly proposed design is the ball-like shape on the upper side of each disk, allowing each disk to rotate freely and gracefully in conjunction with the next one. To further enhance the design, the disk was optimized using nTopology software, an AI-based solution that reduces weight while maintaining performance. This modern engineering tool proved to be instrumental in addressing engineering challenges effectively. Subsequently, both the original and optimized disks were fabricated using 3D printing technology. In addition to the physical construction, the study employed an Artificial Neural Network (ANN) coupled with Particle Swarm Optimization (PSO) to simulate the developed model by solving its inverse kinematic model. The findings from this research have paved the way for a new continuum robot design that can be trained using the ANN-PSO method. Furthermore, the powerful nTopology tool was demonstrated to be capable of skillfully optimizing any given components without sacrificing performance.
论文的第一部分重点介绍新型连续体机器人的创新设计，该设计最初使用 SolidWorks 进行构思，然后通过 3D 打印实现。本节说明了构造过程，详细介绍了布线方法和机器人各部分之间的分隔符。新提出的设计的一个主要特点是每个圆盘上侧的球状形状，使每个圆盘都能与下一个圆盘一起自由、优雅地旋转。为了进一步改进设计，我们使用 nTopology 软件对圆盘进行了优化，这是一种基于人工智能的解决方案，可在保持性能的同时减轻重量。事实证明，这一现代工程工具有助于有效解决工程难题。随后，使用 3D 打印技术制作了原始磁盘和优化磁盘。除了物理结构外，该研究还采用了人工神经网络（ANN）和粒子群优化（PSO）技术，通过求解逆运动学模型来模拟所开发的模型。这项研究的结果为使用 ANN-PSO 方法训练新的连续机器人设计铺平了道路。此外，功能强大的 nTopology 工具被证明能够在不牺牲性能的情况下巧妙地优化任何给定组件。
{"title":"Design optimization and simulation of a 3D printed cable-driven continuum robot using IKM-ANN and nTop software","authors":"Selman Djeffal, Abdelhamid Ghoul, Abdelhakim Saadi, Zineddine Izri, Mohamed Razi Morakchi, Hoa Wang","doi":"10.1177/09596518241276233","DOIUrl":"https://doi.org/10.1177/09596518241276233","url":null,"abstract":"The first aspect of the paper focuses on presenting the innovative design of a new continuum robot, which was initially conceptualized using SolidWorks and then brought to life through 3D printing. This section illustrates the construction process, detailing the wiring method and the separator between each section of the robot. A key feature of the newly proposed design is the ball-like shape on the upper side of each disk, allowing each disk to rotate freely and gracefully in conjunction with the next one. To further enhance the design, the disk was optimized using nTopology software, an AI-based solution that reduces weight while maintaining performance. This modern engineering tool proved to be instrumental in addressing engineering challenges effectively. Subsequently, both the original and optimized disks were fabricated using 3D printing technology. In addition to the physical construction, the study employed an Artificial Neural Network (ANN) coupled with Particle Swarm Optimization (PSO) to simulate the developed model by solving its inverse kinematic model. The findings from this research have paved the way for a new continuum robot design that can be trained using the ANN-PSO method. Furthermore, the powerful nTopology tool was demonstrated to be capable of skillfully optimizing any given components without sacrificing performance.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"17 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142259212","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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 : 2024-09-14DOI: 10.1177/09596518241272850
Yuanhao Wang, Weiwei Bai, Wenjun Zhang, Shicai Chen, Yang Zhao
In this paper, an adaptive fuzzy optimal course tracking control problem is studied for the unmanned surface vehicle (USV) system with input dead zone. Firstly, input dead zone is split into input-dependent and time-varying bounded functions to treat as system uncertainties. Secondly, when the ship sailing on the sea, the complex marine environment brings a great challenge to ship course control. In order to conquer this challenge, the controller is divided into feedforward controller and optimal feedback controller. The feedforward controller is developed to improve the course tracking performance, and the optimal feedback controller is developed to achieve the optimal control based on adaptive fuzzy dynamic programing (AFDP). Finally, the course tracking performance is guaranteed and all signals in the closed-loop system are uniformly ultimately bounded (UUB) based on Lyapunov theory. Simulation results demonstrate remarkable effectiveness.
{"title":"Optimal course tracking control of USV with input dead zone based on adaptive fuzzy dynamic programing","authors":"Yuanhao Wang, Weiwei Bai, Wenjun Zhang, Shicai Chen, Yang Zhao","doi":"10.1177/09596518241272850","DOIUrl":"https://doi.org/10.1177/09596518241272850","url":null,"abstract":"In this paper, an adaptive fuzzy optimal course tracking control problem is studied for the unmanned surface vehicle (USV) system with input dead zone. Firstly, input dead zone is split into input-dependent and time-varying bounded functions to treat as system uncertainties. Secondly, when the ship sailing on the sea, the complex marine environment brings a great challenge to ship course control. In order to conquer this challenge, the controller is divided into feedforward controller and optimal feedback controller. The feedforward controller is developed to improve the course tracking performance, and the optimal feedback controller is developed to achieve the optimal control based on adaptive fuzzy dynamic programing (AFDP). Finally, the course tracking performance is guaranteed and all signals in the closed-loop system are uniformly ultimately bounded (UUB) based on Lyapunov theory. Simulation results demonstrate remarkable effectiveness.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"188 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142259213","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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 : 2024-08-23DOI: 10.1177/09596518241271853
Ram Kumar, Afzal Sikander
The reduced-order model (ROM) of large-scale linear time-invariant systems is constructed in this study using a new system abatement technique. The Coulomb’s and Franklin’s law algorithm (CFLA) is used in this study to determine the ROM of a complex single-input, single-output (SISO) system. In control engineering problems, producing a ROM of a complex system using CFLA is relatively simple. This method employs the properties of molecular dynamics to identify the best values of the variables in the search space. The unknown coefficients of ROM are determined by reducing the integral square error (ISE) value between the original system and ROM. This research looks at various examples of different orders for finding ROMs. Finally, various performance indicators were evaluated and represented in tabulated form and bar graphs to assess the efficacy of the proposed methodology. The simplified model for the original higher-order system is also used to design a PID controller. The response of the closed-loop ROM with the PID controller is identical to that of the closed-loop original system with the PID controller. The simulation results are compared to previous well-known research, revealing that the proposed approach produces ROMs that outperform regarding time and frequency response.
本研究利用一种新的系统消减技术构建了大规模线性时变系统的降阶模型（ROM）。本研究采用库仑和富兰克林定律算法（CFLA）来确定复杂的单输入、单输出（SISO）系统的 ROM。在控制工程问题中，使用 CFLA 得出复杂系统的 ROM 相对简单。这种方法利用分子动力学的特性来确定搜索空间中变量的最佳值。ROM 的未知系数通过减小原始系统与 ROM 之间的平方积分误差 (ISE) 值来确定。这项研究考察了寻找 ROM 的不同阶次的各种实例。最后，对各种性能指标进行了评估，并以表格和柱状图的形式表示，以评估所提出方法的有效性。原始高阶系统的简化模型也用于设计 PID 控制器。带有 PID 控制器的闭环 ROM 与带有 PID 控制器的闭环原始系统的响应相同。仿真结果与之前的知名研究进行了比较，发现所提出的方法所产生的 ROM 在时间和频率响应方面都优于其他方法。
{"title":"Development of new framework for order abatement and control design strategy","authors":"Ram Kumar, Afzal Sikander","doi":"10.1177/09596518241271853","DOIUrl":"https://doi.org/10.1177/09596518241271853","url":null,"abstract":"The reduced-order model (ROM) of large-scale linear time-invariant systems is constructed in this study using a new system abatement technique. The Coulomb’s and Franklin’s law algorithm (CFLA) is used in this study to determine the ROM of a complex single-input, single-output (SISO) system. In control engineering problems, producing a ROM of a complex system using CFLA is relatively simple. This method employs the properties of molecular dynamics to identify the best values of the variables in the search space. The unknown coefficients of ROM are determined by reducing the integral square error (ISE) value between the original system and ROM. This research looks at various examples of different orders for finding ROMs. Finally, various performance indicators were evaluated and represented in tabulated form and bar graphs to assess the efficacy of the proposed methodology. The simplified model for the original higher-order system is also used to design a PID controller. The response of the closed-loop ROM with the PID controller is identical to that of the closed-loop original system with the PID controller. The simulation results are compared to previous well-known research, revealing that the proposed approach produces ROMs that outperform regarding time and frequency response.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"295 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142221096","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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 : 2024-08-13DOI: 10.1177/09596518241262507
Weiming Liu, Xiangyu Wang
In this paper, the attitude tracking control problem is investigated for flexible spacecraft. A novel feedforward-feedback composite control scheme is proposed based on the combination of a generalized proportional integral observer (GPIO) and the full-order sliding-mode control technique. To estimate the lumped disturbances composed of the flexible appendages’ vibration, external environmental disturbance and model uncertainty, a generalized proportional integral observer is firstly constructed. Then, a two-layer recursive full-order sliding-mode surface is developed, where the inner layer is designed as linear sliding-mode surface and the outer layer is designed as a terminal sliding-mode surface. With the feedforward compensation of the GPIO’s estimates, a continuous unwinding-free composite attitude tracking controller is derived to achieve the finite-time arrival of the full-order sliding-mode surface and further ensure the asymptotic set convergence of the attitude tracking errors. Rigorous set stability analysis of the closed-loop attitude tracking error system is given. Comparative simulations are presented to demonstrate the effectiveness and superiority of the proposed composite control scheme.
{"title":"Unwinding-free composite full-order sliding-mode control for attitude tracking of flexible spacecraft","authors":"Weiming Liu, Xiangyu Wang","doi":"10.1177/09596518241262507","DOIUrl":"https://doi.org/10.1177/09596518241262507","url":null,"abstract":"In this paper, the attitude tracking control problem is investigated for flexible spacecraft. A novel feedforward-feedback composite control scheme is proposed based on the combination of a generalized proportional integral observer (GPIO) and the full-order sliding-mode control technique. To estimate the lumped disturbances composed of the flexible appendages’ vibration, external environmental disturbance and model uncertainty, a generalized proportional integral observer is firstly constructed. Then, a two-layer recursive full-order sliding-mode surface is developed, where the inner layer is designed as linear sliding-mode surface and the outer layer is designed as a terminal sliding-mode surface. With the feedforward compensation of the GPIO’s estimates, a continuous unwinding-free composite attitude tracking controller is derived to achieve the finite-time arrival of the full-order sliding-mode surface and further ensure the asymptotic set convergence of the attitude tracking errors. Rigorous set stability analysis of the closed-loop attitude tracking error system is given. Comparative simulations are presented to demonstrate the effectiveness and superiority of the proposed composite control scheme.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"295 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142221036","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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 : 2024-08-13DOI: 10.1177/09596518241263019
Xiaotong Liu, Renming Yang
In this paper, the predefined-time adaptive robust control problem of a class of nonlinear singular systems is studied. Based on the structural properties of the nonlinear singular systems, we first develop a singular system in dissipative form via an appropriate state feedback, then transform it into an equivalent nonlinear differential-algebraic form, finally we obtain a strictly dissipative differential-algebraic system and apply it to obtain the stability results. Based on this, a predefined-time adaptive robust controller is designed with external disturbances and uncertainty. Finally, the results are applied to the nonlinear singular circuit system, and the effectiveness is verified through simulations conducted on the nonlinear circuit system.
{"title":"Predefined-time adaptive robust control of a class of nonlinear singular systems","authors":"Xiaotong Liu, Renming Yang","doi":"10.1177/09596518241263019","DOIUrl":"https://doi.org/10.1177/09596518241263019","url":null,"abstract":"In this paper, the predefined-time adaptive robust control problem of a class of nonlinear singular systems is studied. Based on the structural properties of the nonlinear singular systems, we first develop a singular system in dissipative form via an appropriate state feedback, then transform it into an equivalent nonlinear differential-algebraic form, finally we obtain a strictly dissipative differential-algebraic system and apply it to obtain the stability results. Based on this, a predefined-time adaptive robust controller is designed with external disturbances and uncertainty. Finally, the results are applied to the nonlinear singular circuit system, and the effectiveness is verified through simulations conducted on the nonlinear circuit system.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"61 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142221037","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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 : 2024-08-08DOI: 10.1177/09596518241266670
Yi Yang, Haiyan Henry Zhang
This paper presents an original model reference adaptive fractional-order proportional integral derivative (MRAC-FOPID) controller for the stabilization of the idle speed system in an internal combustion engine under different external load torques. The MRAC-FOPID controller is developed by aligning the changing of FOPID controller’s five parameters with a cost function’s negative gradient direction. Numerical simulations are presented and show that the proposed MRAC-FOPID controller uses 49% more control effort to achieve 72% and 40% more reductions in the relative integral squared error (RISE) and relative integral time absolute error (RITAE), respectively, compared to an optimized model reference adaptive proportional integral derivative (MRAC-PID) controller. Furthermore, the MRAC-FOPID controller is found to have better robustness than other two previously published optimal controllers, with only a 3.07% relative change in RISE when facing variable disturbance. This work also highlights a novel Matlab/Simulink based implementation of the adaptively-varying-order derivative operators, which cannot only be extended to the design of other adaptive fractional-order controllers but may also facilitate hardware realization of the MRAC-FOPID controller in real idle speed systems.
{"title":"Optimal model reference adaptive fractional-order proportional integral derivative control of idle speed system under varying disturbances","authors":"Yi Yang, Haiyan Henry Zhang","doi":"10.1177/09596518241266670","DOIUrl":"https://doi.org/10.1177/09596518241266670","url":null,"abstract":"This paper presents an original model reference adaptive fractional-order proportional integral derivative (MRAC-FOPID) controller for the stabilization of the idle speed system in an internal combustion engine under different external load torques. The MRAC-FOPID controller is developed by aligning the changing of FOPID controller’s five parameters with a cost function’s negative gradient direction. Numerical simulations are presented and show that the proposed MRAC-FOPID controller uses 49% more control effort to achieve 72% and 40% more reductions in the relative integral squared error (RISE) and relative integral time absolute error (RITAE), respectively, compared to an optimized model reference adaptive proportional integral derivative (MRAC-PID) controller. Furthermore, the MRAC-FOPID controller is found to have better robustness than other two previously published optimal controllers, with only a 3.07% relative change in RISE when facing variable disturbance. This work also highlights a novel Matlab/Simulink based implementation of the adaptively-varying-order derivative operators, which cannot only be extended to the design of other adaptive fractional-order controllers but may also facilitate hardware realization of the MRAC-FOPID controller in real idle speed systems.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"158 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141933525","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
With the rapid development of wireless communication technology, how to solve the problem of unknown fault interference (including external unknown interference and internal actuator unknown fault disturbance) encountered during the operation of amorphous flat air-ground wireless self-assembled network systems has become a research hotspot. In this paper, a distributed robust neural network adaptive fault-tolerant controller is designed by incorporating the robust neural network optimal control law into the robust adaptive fault-tolerant controller, and the robust fault-tolerant control factor and adaptive neural network adjustment factor makes the closed-loop wireless self-assembled network system with the active feedback adjustment of the robust fault-tolerant feedback matrix K of the adaptive neural network to make the performance parameters converge to the ideal target value asymptotically, and the system error function can asymptotically converge to zero. The simulation and experimental results show that the system as a whole has good robust fault tolerance performance and active learning performance of the adaptive neural network. Moreover, the stability of the air-ground wireless self-assembly network topology can be relatively improved by 50% when the communication distance between the wireless self-assembly network nodes is 1500 m. This paper provides a certain research basis for the subsequent deployment and application of large-scale long spacing of air-ground wireless self-assembled networks.
随着无线通信技术的飞速发展，如何解决非晶扁平空地无线自组网系统运行过程中遇到的未知故障干扰（包括外部未知干扰和内部执行器未知故障干扰）问题已成为研究热点。本文将鲁棒神经网络最优控制律融入鲁棒自适应容错控制器中，设计了分布式鲁棒神经网络自适应容错控制器，通过鲁棒容错控制因子和自适应神经网络调节因子使得闭环无线自组网系统在自适应神经网络鲁棒容错反馈矩阵K的主动反馈调节下，性能参数渐进收敛到理想目标值，系统误差函数可渐进收敛为零。仿真和实验结果表明，系统整体具有良好的鲁棒容错性能和自适应神经网络的主动学习性能。此外，当无线自组网节点之间的通信距离为 1500 m 时，空地无线自组网拓扑的稳定性可相对提高 50%。本文为后续大规模长间隔空地无线自组网的部署和应用提供了一定的研究基础。
{"title":"Distributed robust neural network adaptive fault-tolerant control for amorphous flattened air-ground wireless self-assembly network system","authors":"Zhifang Wang, Quanzhen Huang, Suxia Chen, Jianguo Yu","doi":"10.1177/09596518241263894","DOIUrl":"https://doi.org/10.1177/09596518241263894","url":null,"abstract":"With the rapid development of wireless communication technology, how to solve the problem of unknown fault interference (including external unknown interference and internal actuator unknown fault disturbance) encountered during the operation of amorphous flat air-ground wireless self-assembled network systems has become a research hotspot. In this paper, a distributed robust neural network adaptive fault-tolerant controller is designed by incorporating the robust neural network optimal control law into the robust adaptive fault-tolerant controller, and the robust fault-tolerant control factor and adaptive neural network adjustment factor makes the closed-loop wireless self-assembled network system with the active feedback adjustment of the robust fault-tolerant feedback matrix K of the adaptive neural network to make the performance parameters converge to the ideal target value asymptotically, and the system error function can asymptotically converge to zero. The simulation and experimental results show that the system as a whole has good robust fault tolerance performance and active learning performance of the adaptive neural network. Moreover, the stability of the air-ground wireless self-assembly network topology can be relatively improved by 50% when the communication distance between the wireless self-assembly network nodes is 1500 m. This paper provides a certain research basis for the subsequent deployment and application of large-scale long spacing of air-ground wireless self-assembled networks.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"3 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141933478","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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 : 2024-08-03DOI: 10.1177/09596518241266865
Weilong Lai, Juntao Pan
The performance of speed tracking is crucial for electric vehicles. In this paper, the observer-based speed tracking controller is designed to improve the stability, reliability, and economy of the IMT system by obtaining unmeasurable state information using the observer. The nonlinearity of the IMT system, the uncertainty of the electric damping coefficient, and the drive shaft damping coefficient are taken into account. First, the norm-bounded uncertainty reduction method describes the system uncertainty parameters and establishes the state space in expression. Second, the system is reconstructed to deal with the nonlinear and unmeasurable states. Third, Lyapunov stability theory and linear matrix inequality (LMI) are used to design the optimal controller that has [Formula: see text] and LQR performance conditions to minimize the effects of sensor noise and road slope and to ensure system stability and control performance. Among them, the nonlinear mismatch term in the system is dealt with using the differential mean value theorem (DMVT). Finally, compared with other controllers, the designed controller has good tracking performance, anti-disturbance, and robustness, and the observer can estimate the state effectively.
{"title":"Design of an observer-based anti-disturbance speed tracking controller for integrated motor-transmission systems under uncertain parameters and road slope variation","authors":"Weilong Lai, Juntao Pan","doi":"10.1177/09596518241266865","DOIUrl":"https://doi.org/10.1177/09596518241266865","url":null,"abstract":"The performance of speed tracking is crucial for electric vehicles. In this paper, the observer-based speed tracking controller is designed to improve the stability, reliability, and economy of the IMT system by obtaining unmeasurable state information using the observer. The nonlinearity of the IMT system, the uncertainty of the electric damping coefficient, and the drive shaft damping coefficient are taken into account. First, the norm-bounded uncertainty reduction method describes the system uncertainty parameters and establishes the state space in expression. Second, the system is reconstructed to deal with the nonlinear and unmeasurable states. Third, Lyapunov stability theory and linear matrix inequality (LMI) are used to design the optimal controller that has [Formula: see text] and LQR performance conditions to minimize the effects of sensor noise and road slope and to ensure system stability and control performance. Among them, the nonlinear mismatch term in the system is dealt with using the differential mean value theorem (DMVT). Finally, compared with other controllers, the designed controller has good tracking performance, anti-disturbance, and robustness, and the observer can estimate the state effectively.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"65 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141933482","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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 : 2024-08-03DOI: 10.1177/09596518241267018
Jiang Wu, Yingxin Wang, Denggui Fan, Hao Xie, Li Li, Yao Zou
This paper discusses the [Formula: see text] preview control problem for a class of continuous-time systems with actuator saturation. Firstly, an integrator auxiliary variable is introduced to merge the preview compensation term based on the future reference trajectory to the state variable of error system (ES). The tracking control problem is transformed into a standard [Formula: see text] controller design problem. Meanwhile, the indirect function of the actuator saturation is employed to overcome the saturation constraint in the closed-loop system. By using Lyapunov function and linear matrix inequality (LMI), the exist conditions of controller are established. And for the original system, the tracking controller with preview action is designed. Finally, an example on an L-1011 aircraft is given to show the effectiveness and superiority of recommended strategy in tracking and saturation control.
{"title":"H∞ preview control for a class of continuous-time system with actuator saturation","authors":"Jiang Wu, Yingxin Wang, Denggui Fan, Hao Xie, Li Li, Yao Zou","doi":"10.1177/09596518241267018","DOIUrl":"https://doi.org/10.1177/09596518241267018","url":null,"abstract":"This paper discusses the [Formula: see text] preview control problem for a class of continuous-time systems with actuator saturation. Firstly, an integrator auxiliary variable is introduced to merge the preview compensation term based on the future reference trajectory to the state variable of error system (ES). The tracking control problem is transformed into a standard [Formula: see text] controller design problem. Meanwhile, the indirect function of the actuator saturation is employed to overcome the saturation constraint in the closed-loop system. By using Lyapunov function and linear matrix inequality (LMI), the exist conditions of controller are established. And for the original system, the tracking controller with preview action is designed. Finally, an example on an L-1011 aircraft is given to show the effectiveness and superiority of recommended strategy in tracking and saturation control.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"39 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141933489","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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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