Pub Date : 2024-04-01DOI: 10.1177/09596518241236938
Dinh Cong Huong, Van Thanh Huynh, Hieu Trinh
The problem of designing event-triggered natural second-order state observers for second-order vector systems subject to external disturbances is considered in this paper. In this work, state observer is constructed using discrete measurements at instants when an event-triggered condition is satisfied. Due to the errors that arise by using the event-triggered mechanism and the external disturbance, the method in this paper only robustly estimates the state position and the state velocity of the second-order vector observers instead of estimating them asymptotically. Instead of using the method based on a parameter-dependent Lyapunov function in investigating the stability of the dynamic error system of natural second-order observers, a convex optimization problem is established in this paper to give an event-triggered mechanism and minimized levels in evaluating the boundedness of the dynamic error system of the event-triggered natural second-order observers. An automobile suspension and two numerical examples demonstrate the effectiveness of the proposed method.
{"title":"Design of event-triggered natural second-order observers for second-order vector systems","authors":"Dinh Cong Huong, Van Thanh Huynh, Hieu Trinh","doi":"10.1177/09596518241236938","DOIUrl":"https://doi.org/10.1177/09596518241236938","url":null,"abstract":"The problem of designing event-triggered natural second-order state observers for second-order vector systems subject to external disturbances is considered in this paper. In this work, state observer is constructed using discrete measurements at instants when an event-triggered condition is satisfied. Due to the errors that arise by using the event-triggered mechanism and the external disturbance, the method in this paper only robustly estimates the state position and the state velocity of the second-order vector observers instead of estimating them asymptotically. Instead of using the method based on a parameter-dependent Lyapunov function in investigating the stability of the dynamic error system of natural second-order observers, a convex optimization problem is established in this paper to give an event-triggered mechanism and minimized levels in evaluating the boundedness of the dynamic error system of the event-triggered natural second-order observers. An automobile suspension and two numerical examples demonstrate the effectiveness of the proposed method.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"63 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140597036","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}
This article investigates a Denial-of-Service (DoS) attack problem for nonlinear unknown discrete-time multiagent systems (MASs) to implement bipartite consensus tracking tasks with fixed and switching topologies. Firstly, an equivalent linearization data model of each agent is constructed using a pseudo partial derivative approach, where only one parameter needs to be estimated using input/output data of the controlled MASs. Meanwhile, the DoS attack behavior is described by a Bernoulli distribution process, and both cooperative and competitive relationships among agents are investigated. Moreover, an increment prediction compensator is designed to reduce the effect of DoS attacks. A data-based adaptive predictive bipartite consensus control algorithm is formulated. The corresponding theoretical analysis indicates that tracking errors of MASs with fixed and switching topologies converge to a small range around zero. Finally, several simulations and hardware tests further verify the proposed scheme’s effectiveness.
本文研究了非线性未知离散时间多代理系统（MAS）的拒绝服务（DoS）攻击问题，以实现具有固定拓扑和切换拓扑的双向共识跟踪任务。首先，利用伪偏导方法构建了每个代理的等效线性化数据模型，其中只需使用受控 MAS 的输入/输出数据估计一个参数。同时，用伯努利分布过程描述 DoS 攻击行为，并研究代理之间的合作与竞争关系。此外，还设计了一种增量预测补偿器来降低 DoS 攻击的影响。制定了一种基于数据的自适应预测双方位共识控制算法。相应的理论分析表明，具有固定拓扑结构和切换拓扑结构的 MAS 的跟踪误差会收敛到零附近的较小范围。最后，一些模拟和硬件测试进一步验证了所提方案的有效性。
{"title":"Data-based adaptive predictive bipartite consensus for nonlinear multiagent systems against DoS attacks","authors":"Yeerjiang Halimu, Huarong Zhao, Hongnian Yu, Shuchen Ding, Shangling Qiao","doi":"10.1177/09596518241236928","DOIUrl":"https://doi.org/10.1177/09596518241236928","url":null,"abstract":"This article investigates a Denial-of-Service (DoS) attack problem for nonlinear unknown discrete-time multiagent systems (MASs) to implement bipartite consensus tracking tasks with fixed and switching topologies. Firstly, an equivalent linearization data model of each agent is constructed using a pseudo partial derivative approach, where only one parameter needs to be estimated using input/output data of the controlled MASs. Meanwhile, the DoS attack behavior is described by a Bernoulli distribution process, and both cooperative and competitive relationships among agents are investigated. Moreover, an increment prediction compensator is designed to reduce the effect of DoS attacks. A data-based adaptive predictive bipartite consensus control algorithm is formulated. The corresponding theoretical analysis indicates that tracking errors of MASs with fixed and switching topologies converge to a small range around zero. Finally, several simulations and hardware tests further verify the proposed scheme’s effectiveness.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"54 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140313800","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 : 2024-03-27DOI: 10.1177/09596518241236977
Zhiying He, Ziran Chen
In the original iterative learning control (ILC) algorithm, it is commonly assumed that the target signal remains constant throughout iterations. However, this assumption may not be satisfied in practical industrial applications. Therefore, this paper proposes a novel ILC approach for non-normal and biased measured targets, in which the target is not predetermined by a fixed curve or formula but generated from the generation system. The iterative learning control problem is first formulated, followed by algorithm implementation through mechanism analysis, process determination, and assessments for feasibility and convergence. The proposed algorithm is simulated subsequently. Results demonstrate that application of this algorithm can effectively minimize expected error between non-normal and biased measured targets and output. After a sufficient number of iterations, the tracking error will originate solely from the trajectory itself.
{"title":"Iterative learning control for non-normal and biased measured targets","authors":"Zhiying He, Ziran Chen","doi":"10.1177/09596518241236977","DOIUrl":"https://doi.org/10.1177/09596518241236977","url":null,"abstract":"In the original iterative learning control (ILC) algorithm, it is commonly assumed that the target signal remains constant throughout iterations. However, this assumption may not be satisfied in practical industrial applications. Therefore, this paper proposes a novel ILC approach for non-normal and biased measured targets, in which the target is not predetermined by a fixed curve or formula but generated from the generation system. The iterative learning control problem is first formulated, followed by algorithm implementation through mechanism analysis, process determination, and assessments for feasibility and convergence. The proposed algorithm is simulated subsequently. Results demonstrate that application of this algorithm can effectively minimize expected error between non-normal and biased measured targets and output. After a sufficient number of iterations, the tracking error will originate solely from the trajectory itself.","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":"2024-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140313637","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 : 2024-03-27DOI: 10.1177/09596518241238413
Cheng Lei, Yipeng Lan, Zelai Xu, Yunpeng Sun, Jiayu Li
In order to improve the convergence speed and disturbance immunity of the linear maglev synchronous motor (LMLSM) maglev system, this paper proposes a dual sliding mode control strategy based on a novel expanded state observer (NESO). Firstly, a dual terminal sliding mode (DTSM) surface is designed, which exhibits the desired dynamic and steady state performance. The problem of the TSM singularity is solved by the dual sliding mode technique, which turns the control signal into a continuous switching control through the filtering function and effectively reduces the jitter problem. Since the maglev system is susceptible to uncertainties such as nonlinearity, strong coupling and external perturbations, which affect its tracking accuracy, a continuous smooth ESO is designed to estimate and compensate for these uncertainty perturbations, thus solving the problem that the traditional ESO is continuous but not derivable at the switching point. Then, it is proved that the DTSM control strategy based on NESO converges to the equilibrium point in finite time by Lyapunov function. Finally, the effectiveness and superiority of the proposed strategy are verified on the LMLSM maglev system platform.
{"title":"Dual sliding mode control of linear maglev synchronous motor based on novel extended state observer","authors":"Cheng Lei, Yipeng Lan, Zelai Xu, Yunpeng Sun, Jiayu Li","doi":"10.1177/09596518241238413","DOIUrl":"https://doi.org/10.1177/09596518241238413","url":null,"abstract":"In order to improve the convergence speed and disturbance immunity of the linear maglev synchronous motor (LMLSM) maglev system, this paper proposes a dual sliding mode control strategy based on a novel expanded state observer (NESO). Firstly, a dual terminal sliding mode (DTSM) surface is designed, which exhibits the desired dynamic and steady state performance. The problem of the TSM singularity is solved by the dual sliding mode technique, which turns the control signal into a continuous switching control through the filtering function and effectively reduces the jitter problem. Since the maglev system is susceptible to uncertainties such as nonlinearity, strong coupling and external perturbations, which affect its tracking accuracy, a continuous smooth ESO is designed to estimate and compensate for these uncertainty perturbations, thus solving the problem that the traditional ESO is continuous but not derivable at the switching point. Then, it is proved that the DTSM control strategy based on NESO converges to the equilibrium point in finite time by Lyapunov function. Finally, the effectiveness and superiority of the proposed strategy are verified on the LMLSM maglev system platform.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"52 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140313724","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 : 2024-03-22DOI: 10.1177/09596518241237568
Liangang Song, Hong Lin, Guanhua Fu, Yehao Chen, Chenxiao Cai
This paper studies innovative design for landing platform design and autonomous landing strategies for unmanned aerial vehicles (UAVs). First, a self-leveling landing platform on a mobile unmanned ground vehicle (UGV) is designed, which can be maintained even when the UGV moves on uneven terrain. Then, with the cooperation of the UAV and the UGV, they are controlled to reach the same velocity in the horizontal direction, which helps avoid the UAV’s rollover caused by horizontal velocity difference. Meanwhile, a buffering strategy is designed to reduce the vertical velocity difference, which helps avoid a hard landing. Finally, a combined landing code is designed to improve the accuracy and success rate of UAV landing. Experiments are carried out to demonstrate the effectiveness of the proposed design of a self-leveling platform and autonomous landing strategies.
{"title":"Design of air-ground cooperative landing platform and autonomous landing strategy","authors":"Liangang Song, Hong Lin, Guanhua Fu, Yehao Chen, Chenxiao Cai","doi":"10.1177/09596518241237568","DOIUrl":"https://doi.org/10.1177/09596518241237568","url":null,"abstract":"This paper studies innovative design for landing platform design and autonomous landing strategies for unmanned aerial vehicles (UAVs). First, a self-leveling landing platform on a mobile unmanned ground vehicle (UGV) is designed, which can be maintained even when the UGV moves on uneven terrain. Then, with the cooperation of the UAV and the UGV, they are controlled to reach the same velocity in the horizontal direction, which helps avoid the UAV’s rollover caused by horizontal velocity difference. Meanwhile, a buffering strategy is designed to reduce the vertical velocity difference, which helps avoid a hard landing. Finally, a combined landing code is designed to improve the accuracy and success rate of UAV landing. Experiments are carried out to demonstrate the effectiveness of the proposed design of a self-leveling platform and autonomous landing strategies.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"26 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140203446","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 : 2024-03-22DOI: 10.1177/09596518241235203
Al-Shaimaa A. Younis, Mohammed Moness, Ahmed M. Moustafa
Hybrid systems have acquired deep attention in research as many systems in industries and laboratories manifest hybrid dynamic behaviors. Optimal control design for hybrid systems exhibits challenges for controlling the interacting continuous and discrete dynamics. A double-tank hybrid system (DTHS) is proposed in this paper with a mixed-integer actuation mechanism. The proposed DTHS aims to control the liquid level of the two tanks simultaneously by a networked hybrid predictive controller. Hybrid frameworks are provided to investigate the system through reachability analysis. An explicit hybrid model predictive control (EHMPC) has been developed to control the levels of the DTHS. Hardware-In-the-Loop (HIL) simulation is performed for assessing the performance of the EHMPC with a hardware real-time networked controller. The networked real-time controller is constructed and implemented using the Node.js frameworks. The simulation and realtime results are presented and discussed to evaluate the hybrid controller performance.
{"title":"Networked explicit hybrid predictive control of an industrial benchmark process","authors":"Al-Shaimaa A. Younis, Mohammed Moness, Ahmed M. Moustafa","doi":"10.1177/09596518241235203","DOIUrl":"https://doi.org/10.1177/09596518241235203","url":null,"abstract":"Hybrid systems have acquired deep attention in research as many systems in industries and laboratories manifest hybrid dynamic behaviors. Optimal control design for hybrid systems exhibits challenges for controlling the interacting continuous and discrete dynamics. A double-tank hybrid system (DTHS) is proposed in this paper with a mixed-integer actuation mechanism. The proposed DTHS aims to control the liquid level of the two tanks simultaneously by a networked hybrid predictive controller. Hybrid frameworks are provided to investigate the system through reachability analysis. An explicit hybrid model predictive control (EHMPC) has been developed to control the levels of the DTHS. Hardware-In-the-Loop (HIL) simulation is performed for assessing the performance of the EHMPC with a hardware real-time networked controller. The networked real-time controller is constructed and implemented using the Node.js frameworks. The simulation and realtime results are presented and discussed to evaluate the hybrid controller performance.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"365 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140203450","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 : 2024-03-21DOI: 10.1177/09596518241233640
Ruicheng Zhang, Pengfei Li, Weizheng Liang
A mathematical model of the main drive system of rolling mill is developed for the motor armature faults in the main drive system of rolling mill, taking into account the effects of nonlinear damping, friction damping between rolls and external perturbations on the system during operation. The unknown input observer is designed to process perturbations and errors as unknown inputs, and the [Formula: see text] performance index is designed to improve the robustness of the unknown input observer to fault reconfiguration. At the same time, in order to ensure the stability of the main drive system of rolling mill after the occurrence of faults, an active fault-tolerant controller is designed for the main drive system of rolling mill after obtaining the accurate fault reconfiguration value, which realizes the active fault-tolerant control of the main drive system of rolling mill. Through the simulation study on the main drive system of 2030 mm cold rolling mill stand F4, it is shown that the system is restored to the normal state after adding the fault-tolerant controller, and the motor angular speed error and roll angular speed error are 2.12% and 2.43%, respectively. Comparing with the fault-tolerant control method based on fault estimation, the root-mean-square errors of the motor angular speed and roll angular speed estimates of the designed fault-tolerant control method are reduced by 4.24% and 3.28%, respectively. Simulation verifies the effectiveness of the proposed method.
{"title":"Fault-tolerant control of the main drive system of rolling mill based on fault reconfiguration","authors":"Ruicheng Zhang, Pengfei Li, Weizheng Liang","doi":"10.1177/09596518241233640","DOIUrl":"https://doi.org/10.1177/09596518241233640","url":null,"abstract":"A mathematical model of the main drive system of rolling mill is developed for the motor armature faults in the main drive system of rolling mill, taking into account the effects of nonlinear damping, friction damping between rolls and external perturbations on the system during operation. The unknown input observer is designed to process perturbations and errors as unknown inputs, and the [Formula: see text] performance index is designed to improve the robustness of the unknown input observer to fault reconfiguration. At the same time, in order to ensure the stability of the main drive system of rolling mill after the occurrence of faults, an active fault-tolerant controller is designed for the main drive system of rolling mill after obtaining the accurate fault reconfiguration value, which realizes the active fault-tolerant control of the main drive system of rolling mill. Through the simulation study on the main drive system of 2030 mm cold rolling mill stand F4, it is shown that the system is restored to the normal state after adding the fault-tolerant controller, and the motor angular speed error and roll angular speed error are 2.12% and 2.43%, respectively. Comparing with the fault-tolerant control method based on fault estimation, the root-mean-square errors of the motor angular speed and roll angular speed estimates of the designed fault-tolerant control method are reduced by 4.24% and 3.28%, respectively. Simulation verifies the effectiveness of the proposed method.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"9 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140203606","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 : 2024-03-14DOI: 10.1177/09596518241233319
Hamid Taghavifar, Chuan Hu
Path planning and tracking control are two performance-critical tasks for wheeled mobile robots, particularly when nonholonomic constraints are imposed on robots in dynamically uncertain conditions. Accomplishing certain performance and safety considerations related to path-tracking, such as global stability, transient performance, and smooth finite-time convergence, becomes more difficult for nonholonomic robots. This paper is concerned with proposing a new adaptive robust finite-time tracking control approach for a large class of differential drive autonomous nonholonomic wheeled mobile robots (NWMRs) that are subject to structured uncertainties and extraneous disturbances with fully unknown dynamics. For this purpose, nonlinear kinodynamics of a type of rear-wheel drive NWMRs are developed by incorporating the skid/slippage constituents of the wheel motion. Then, a path-tracking controller is proposed using a continuous finite-time adaptive integral sliding mode control coupled with an integral backstepping approach (FTAISM-IBC). For the adaptive controller design, the entire nonlinear dynamics of the robot, including nonlinear vector functions and control gain functions, together with extraneous disturbances, are estimated by leveraging the universal approximation capabilities of radial basis neural networks (RBFNNs). The finite-time stability proof is presented by utilizing the Lyapunov stability theorem. Furthermore, the adaptive gains are derived to ensure the finite-time stability of the system subject to unknown functions, parametric variations, and unknown but bounded disturbances. Finally, the effectiveness of the proposed controller is evaluated through simulations in terms of several key performance indicators against several reported studies.
{"title":"A finite-time path-tracking control algorithm for nonholonomic mobile robots with unknown dynamics and subject to wheel slippage/skid disturbances","authors":"Hamid Taghavifar, Chuan Hu","doi":"10.1177/09596518241233319","DOIUrl":"https://doi.org/10.1177/09596518241233319","url":null,"abstract":"Path planning and tracking control are two performance-critical tasks for wheeled mobile robots, particularly when nonholonomic constraints are imposed on robots in dynamically uncertain conditions. Accomplishing certain performance and safety considerations related to path-tracking, such as global stability, transient performance, and smooth finite-time convergence, becomes more difficult for nonholonomic robots. This paper is concerned with proposing a new adaptive robust finite-time tracking control approach for a large class of differential drive autonomous nonholonomic wheeled mobile robots (NWMRs) that are subject to structured uncertainties and extraneous disturbances with fully unknown dynamics. For this purpose, nonlinear kinodynamics of a type of rear-wheel drive NWMRs are developed by incorporating the skid/slippage constituents of the wheel motion. Then, a path-tracking controller is proposed using a continuous finite-time adaptive integral sliding mode control coupled with an integral backstepping approach (FTAISM-IBC). For the adaptive controller design, the entire nonlinear dynamics of the robot, including nonlinear vector functions and control gain functions, together with extraneous disturbances, are estimated by leveraging the universal approximation capabilities of radial basis neural networks (RBFNNs). The finite-time stability proof is presented by utilizing the Lyapunov stability theorem. Furthermore, the adaptive gains are derived to ensure the finite-time stability of the system subject to unknown functions, parametric variations, and unknown but bounded disturbances. Finally, the effectiveness of the proposed controller is evaluated through simulations in terms of several key performance indicators against several reported studies.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"4 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140149353","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 : 2024-02-28DOI: 10.1177/09596518241233318
Lian-Lian Zhai, Shan-Liang Zhu, Yu-Qun Han
For the tracking control problem of a class of nonlinear systems with input saturation constraint and time-varying delay, an adaptive tracking control scheme based on multi-dimensional Taylor network (MTN) is designed, and the proposed control scheme has the advantages of simple structure and small computation. A Gaussian error function is introduced to transform the input saturation into a linear model with bounded error. The Lyapunov-Krasovskii function is constructed, and the nonlinearity of the system is approximated using MTN, and an adaptive control strategy is constructed based on the backstepping method. The results show that the proposed control method can both ensure that all signals in the closed-loop system are bounded and achieve convergence of the tracking error to a small neighborhood near the origin. Numerical simulations verify the effectiveness of the method.
{"title":"Adaptive multi-dimensional Taylor network tracking control of time-varying delay nonlinear systems subject to input saturation","authors":"Lian-Lian Zhai, Shan-Liang Zhu, Yu-Qun Han","doi":"10.1177/09596518241233318","DOIUrl":"https://doi.org/10.1177/09596518241233318","url":null,"abstract":"For the tracking control problem of a class of nonlinear systems with input saturation constraint and time-varying delay, an adaptive tracking control scheme based on multi-dimensional Taylor network (MTN) is designed, and the proposed control scheme has the advantages of simple structure and small computation. A Gaussian error function is introduced to transform the input saturation into a linear model with bounded error. The Lyapunov-Krasovskii function is constructed, and the nonlinearity of the system is approximated using MTN, and an adaptive control strategy is constructed based on the backstepping method. The results show that the proposed control method can both ensure that all signals in the closed-loop system are bounded and achieve convergence of the tracking error to a small neighborhood near the origin. Numerical simulations verify the effectiveness of the method.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"12 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-02-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140005305","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 : 2024-02-28DOI: 10.1177/09596518241233761
Xin Chen, Lingfei Dai, Liuxiao Guo
This paper deals with the problem of prescribed-time group output consensus for multi-agent systems via an observer-based approach. Distributed observers are designed to estimate the output information when the agents’ states are not easy to measure or unavailable. The multi-agent systems can achieve group output consensus within a user-preset time, which is independent of the system parameters and initial states. By using algebraic graph theory, Lyapunov stability and matrix theory, sufficient conditions with designed parameters are given to realise prescribed time group output consensus. Finally, a numerical example is conducted to verify the results.
{"title":"Prescribed time group output consensus for multiagent system via an observer-based approach","authors":"Xin Chen, Lingfei Dai, Liuxiao Guo","doi":"10.1177/09596518241233761","DOIUrl":"https://doi.org/10.1177/09596518241233761","url":null,"abstract":"This paper deals with the problem of prescribed-time group output consensus for multi-agent systems via an observer-based approach. Distributed observers are designed to estimate the output information when the agents’ states are not easy to measure or unavailable. The multi-agent systems can achieve group output consensus within a user-preset time, which is independent of the system parameters and initial states. By using algebraic graph theory, Lyapunov stability and matrix theory, sufficient conditions with designed parameters are given to realise prescribed time group output consensus. Finally, a numerical example is conducted to verify the results.","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":"2024-02-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140005299","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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