Pub Date : 2024-02-21DOI: 10.1177/09596518241227273
Ali Shokrollahi, Saeed Shamaghdari
This work addresses the problem of robust [Formula: see text] model predictive control for constrained piecewise non-linear systems corrupted by norm-bounded disturbances for the first time. In this approach, the system can have different operating points with different subregions. In each subregion, the system is made up of an affine model disturbed by an additive non-linear term that is locally Lipschitz. The employment of the piecewise non-linear model leads to a non-convex optimization problem, which is far more difficult to solve. It is also much more challenging to develop the [Formula: see text] model predictive control for piecewise non-linear systems. The proposed method introduces a control strategy in the form of a convex optimization problem subject to linear matrix inequality constraints, with the ability to minimize the L2 gain between the disturbance input and the controlled output. The proposed controller guarantees system stability with a prescribed [Formula: see text] disturbance attenuation level under switching between subregions. Simulations on a highly non-linear chemical process are conducted to demonstrate the efficacy of the proposed approach.
{"title":"Piecewise non-linear model predictive control with bounded disturbance","authors":"Ali Shokrollahi, Saeed Shamaghdari","doi":"10.1177/09596518241227273","DOIUrl":"https://doi.org/10.1177/09596518241227273","url":null,"abstract":"This work addresses the problem of robust [Formula: see text] model predictive control for constrained piecewise non-linear systems corrupted by norm-bounded disturbances for the first time. In this approach, the system can have different operating points with different subregions. In each subregion, the system is made up of an affine model disturbed by an additive non-linear term that is locally Lipschitz. The employment of the piecewise non-linear model leads to a non-convex optimization problem, which is far more difficult to solve. It is also much more challenging to develop the [Formula: see text] model predictive control for piecewise non-linear systems. The proposed method introduces a control strategy in the form of a convex optimization problem subject to linear matrix inequality constraints, with the ability to minimize the L2 gain between the disturbance input and the controlled output. The proposed controller guarantees system stability with a prescribed [Formula: see text] disturbance attenuation level under switching between subregions. Simulations on a highly non-linear chemical process are conducted to demonstrate the efficacy of the proposed approach.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"1 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-02-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139956948","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 : 2024-02-21DOI: 10.1177/09596518241227492
Lassoued Zeineb, Abderrahim Kamel
The main objective of this paper is the extension of the clustering-based identification approach to Multi-Input Multi-Output (MIMO) PieceWise Affine systems (PWA). This approach is performed by three main steps which are data clustering, parameters matrices estimation and regions computing. Data clustering is the most important step because the performances depend on the results given by the used clustering algorithm. In the case of MIMO PWA systems, we should cluster matrices of parameters which are considered high dimensional data. However, most of the conventional clustering algorithms are not efficient since the similarity assessment which is based on the distances between objects is fruitless in high dimension space. Therefore, we propose an extension of the DBSCAN (Density Based Spatial Clustering of Applications with Noise) clustering technique to identify MIMO PWA systems. The simulation results presented in this paper illustrate the performance of the proposed method. An application to an industrial dryer of Di-Calcium Phosphate (DCP) is also presented in order to strengthen the simulation results.
本文的主要目的是将基于聚类的识别方法扩展到多输入多输出（MIMO）计件仿射系统（PWA）。该方法由三个主要步骤完成，即数据聚类、参数矩阵估计和区域计算。数据聚类是最重要的步骤，因为其性能取决于所用聚类算法的结果。在多输入多输出 PWA 系统中，我们应该对被视为高维数据的参数矩阵进行聚类。然而，大多数传统的聚类算法并不有效，因为基于对象间距离的相似性评估在高维空间中是无效的。因此，我们提出了 DBSCAN（基于密度的有噪声应用空间聚类）聚类技术的扩展，以识别 MIMO PWA 系统。本文介绍的仿真结果说明了所提方法的性能。本文还介绍了磷酸二钙（DCP）工业干燥机的应用，以加强仿真结果。
{"title":"Extension of a clustering identification approach to multivariable piecewise affine systems: Application to an industrial dryer","authors":"Lassoued Zeineb, Abderrahim Kamel","doi":"10.1177/09596518241227492","DOIUrl":"https://doi.org/10.1177/09596518241227492","url":null,"abstract":"The main objective of this paper is the extension of the clustering-based identification approach to Multi-Input Multi-Output (MIMO) PieceWise Affine systems (PWA). This approach is performed by three main steps which are data clustering, parameters matrices estimation and regions computing. Data clustering is the most important step because the performances depend on the results given by the used clustering algorithm. In the case of MIMO PWA systems, we should cluster matrices of parameters which are considered high dimensional data. However, most of the conventional clustering algorithms are not efficient since the similarity assessment which is based on the distances between objects is fruitless in high dimension space. Therefore, we propose an extension of the DBSCAN (Density Based Spatial Clustering of Applications with Noise) clustering technique to identify MIMO PWA systems. The simulation results presented in this paper illustrate the performance of the proposed method. An application to an industrial dryer of Di-Calcium Phosphate (DCP) is also presented in order to strengthen the simulation results.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"2012 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-02-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139954630","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 studies the shipboard landing control problem for unmanned aerial vehicle with external disturbance and structure damage. A novel discrete-time adaptive preview architecture is presented, where the model reference adaptive control is improved by introducing the preview control method, so that both the uncertainties (caused by the airwake and structure damage) and the control lag could be well compensated simultaneously. The proposed scheme guarantees a more rapid, accurate, and robust performance. For application, the reference input signal is generated by fusing the deck motion prediction information and glide path command. The effectiveness of the algorithm is validated by a longitudinal landing simulation.
{"title":"Disturbance rejection based on discrete-time adaptive preview control for unmanned aerial vehicle shipboard landing under structure damage","authors":"Yixuan Xue, Yikun Chen, Chenggang Tao, Yuchun Zou, Ziyang Zhen","doi":"10.1177/09596518241226999","DOIUrl":"https://doi.org/10.1177/09596518241226999","url":null,"abstract":"This article studies the shipboard landing control problem for unmanned aerial vehicle with external disturbance and structure damage. A novel discrete-time adaptive preview architecture is presented, where the model reference adaptive control is improved by introducing the preview control method, so that both the uncertainties (caused by the airwake and structure damage) and the control lag could be well compensated simultaneously. The proposed scheme guarantees a more rapid, accurate, and robust performance. For application, the reference input signal is generated by fusing the deck motion prediction information and glide path command. The effectiveness of the algorithm is validated by a longitudinal landing simulation.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"49 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-02-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139955211","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 : 2024-02-21DOI: 10.1177/09596518241227497
Wenshuai Gao, Yang Song, Yongzhuang Liu, Wanqing Zhao
In this article, the mean square finite-time [Formula: see text] control problems of two types of Markov jump linear system with multiple equilibria are investigated. To be specific, Markov jump linear system with multiple equilibria in discrete-time domain and continuous-time domain are considered, respectively, in which the equilibria of subsystems are different. First, an average equilibrium is introduced to equivalently reformulate the initial system expressions. Following this method, some sufficient conditions guaranteeing that Markov jump linear system with multiple equilibria subjected to norm bounded disturbance is mean square finite-time boundedness are proposed, and the results are extended to [Formula: see text] mean square finite-time boundedness. Then, mean square finite-time [Formula: see text] controllers are designed separately to stabilize the two types of Markov jump linear system with multiple equilibria and also achieve the prescribed [Formula: see text] performance index. The proposed methods in this article are a natural generalization of typical results in Markov jump linear system sharing common equilibrium. Finally, two numerical examples are exploited to demonstrate the effectiveness of the methods proposed in this article.
{"title":"H∞ mean square finite-time control for Markov jump linear system with multiple equilibria","authors":"Wenshuai Gao, Yang Song, Yongzhuang Liu, Wanqing Zhao","doi":"10.1177/09596518241227497","DOIUrl":"https://doi.org/10.1177/09596518241227497","url":null,"abstract":"In this article, the mean square finite-time [Formula: see text] control problems of two types of Markov jump linear system with multiple equilibria are investigated. To be specific, Markov jump linear system with multiple equilibria in discrete-time domain and continuous-time domain are considered, respectively, in which the equilibria of subsystems are different. First, an average equilibrium is introduced to equivalently reformulate the initial system expressions. Following this method, some sufficient conditions guaranteeing that Markov jump linear system with multiple equilibria subjected to norm bounded disturbance is mean square finite-time boundedness are proposed, and the results are extended to [Formula: see text] mean square finite-time boundedness. Then, mean square finite-time [Formula: see text] controllers are designed separately to stabilize the two types of Markov jump linear system with multiple equilibria and also achieve the prescribed [Formula: see text] performance index. The proposed methods in this article are a natural generalization of typical results in Markov jump linear system sharing common equilibrium. Finally, two numerical examples are exploited to demonstrate the effectiveness of the methods proposed in this article.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"31 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-02-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139955232","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 : 2024-02-19DOI: 10.1177/09596518241229741
Mousa Alizadeh, Mohammad Hossein Samaei, Mahdi Vahid Estakhri, Hamidreza Momeni, Mohammad TH Beheshti
Extensive research has focused on enhancing the efficiency and stability of robotic arms. Sliding mode control (SMC) is commonly used in industrial robots due to its robustness and simplicity. However, SMC approaches have challenges such as chattering and slow convergence rates which can compromise tracking accuracy. To address these issues, this paper proposes a novel Super-Twisting Fast Non-singular Terminal Sliding Mode Control (ST-FNTSMC) strategy for a 3-DOF arm robot. The proposed approach significantly improves trajectory tracking accuracy, robustness, and convergence time and eliminates chattering. The proposed controller was tested in the presence of model mismatches and external disturbances. The super-twisting methodology avoided chattering effects and increased robustness against perturbations. Two Lyapunov functions ensure closed system stability and finite-time convergence. The designed ST-FNTSMC controller is implemented in real-time using a Smart Man Robot manipulator. Its performance is compared to other sliding mode controllers, such as conventional PID Sliding Mode Control (PID-SMC), Non-singular Terminal Sliding Mode Control (NTSMC), and Fast Non-singular Terminal Sliding Mode Control (FNTSMC). Experimental results demonstrate the superior performance of the proposed controller, highlighting its effectiveness in improving the efficiency and stability of industrial robots.
{"title":"Robust trajectory tracking of a 3-DOF robotic arm using a Super-Twisting Fast finite time Non-singular Terminal Sliding Mode Control in the presence of perturbations","authors":"Mousa Alizadeh, Mohammad Hossein Samaei, Mahdi Vahid Estakhri, Hamidreza Momeni, Mohammad TH Beheshti","doi":"10.1177/09596518241229741","DOIUrl":"https://doi.org/10.1177/09596518241229741","url":null,"abstract":"Extensive research has focused on enhancing the efficiency and stability of robotic arms. Sliding mode control (SMC) is commonly used in industrial robots due to its robustness and simplicity. However, SMC approaches have challenges such as chattering and slow convergence rates which can compromise tracking accuracy. To address these issues, this paper proposes a novel Super-Twisting Fast Non-singular Terminal Sliding Mode Control (ST-FNTSMC) strategy for a 3-DOF arm robot. The proposed approach significantly improves trajectory tracking accuracy, robustness, and convergence time and eliminates chattering. The proposed controller was tested in the presence of model mismatches and external disturbances. The super-twisting methodology avoided chattering effects and increased robustness against perturbations. Two Lyapunov functions ensure closed system stability and finite-time convergence. The designed ST-FNTSMC controller is implemented in real-time using a Smart Man Robot manipulator. Its performance is compared to other sliding mode controllers, such as conventional PID Sliding Mode Control (PID-SMC), Non-singular Terminal Sliding Mode Control (NTSMC), and Fast Non-singular Terminal Sliding Mode Control (FNTSMC). Experimental results demonstrate the superior performance of the proposed controller, highlighting its effectiveness in improving the efficiency and stability of industrial robots.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"13 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139954705","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 : 2024-02-19DOI: 10.1177/09596518241226549
Wenxiu Zhao, Yuangong Sun
This article deals with the [Formula: see text] control problems of switched Lurie systems. Our purpose is to design switching signals and state feedback controllers with time-varying control gains that make the closed-loop switched Lurie systems absolutely stable. Based on switched time-varying Lyapunov–Lurie function, time-varying controllers corresponding to two kinds of switching signals are proposed. On this basis, the control synthesis conditions are given. It is worth mentioning that our results can deal with the situation that all subsystems are not stabilizable. Finally, the obtained results are applied to a flexible joint robotic arm model with switchings of parameter values. Another simulation example of switched Lurie systems is considered to illustrate the validity of the presented approaches.
{"title":"H∞ control of switched Lurie systems with dwell time","authors":"Wenxiu Zhao, Yuangong Sun","doi":"10.1177/09596518241226549","DOIUrl":"https://doi.org/10.1177/09596518241226549","url":null,"abstract":"This article deals with the [Formula: see text] control problems of switched Lurie systems. Our purpose is to design switching signals and state feedback controllers with time-varying control gains that make the closed-loop switched Lurie systems absolutely stable. Based on switched time-varying Lyapunov–Lurie function, time-varying controllers corresponding to two kinds of switching signals are proposed. On this basis, the control synthesis conditions are given. It is worth mentioning that our results can deal with the situation that all subsystems are not stabilizable. Finally, the obtained results are applied to a flexible joint robotic arm model with switchings of parameter values. Another simulation example of switched Lurie systems is considered to illustrate the validity of the presented approaches.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"153 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139955206","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 : 2024-02-16DOI: 10.1177/09596518241227491
Ang Li, Zhipeng Shen, Hongbo Bi, Haomiao Yu
For marine surface vessel with input saturation, model uncertainties, and unknown disturbances, this article proposes a path-following control and collision avoidance method based on error-constrained event-triggered switching line-of-sight guidance. This method can autonomously switch between path-following and collision avoidance modes, constrain the position and heading errors to satisfy safe navigation in confined waters, and reduce the computational frequency of the controller and the mechanical wear of the actuator. In the path-following mode, we construct an asymmetric modified barrier Lyapunov function to constrain the position errors and use the relative threshold event-triggered mechanism to reduce the update frequency of the guidance heading angle. In the collision avoidance mode, static or dynamic obstacles are avoided through the response of collision avoidance radius. In the heading and velocity control design, asymmetric modified barrier Lyapunov function and event-triggered mechanism are also applied, so that the marine surface vessel can track the guided heading angle and meet the heading error-constrained while reducing the update frequency of the controller. The adaptive auxiliary systems are used to compensate for the input saturation, and radial basis function neural networks and adaptive laws are used to approximate the model uncertainties and composite disturbances. According to the Lyapunov stability theory, all signals are semi-globally uniformly ultimately bounded and the Zeno phenomenon is avoided. Finally, the comparative experiment shows the superiority of the designed control strategy.
{"title":"Event-triggered error-constrained switching guidance-based marine surface vessel path-following control and collision avoidance","authors":"Ang Li, Zhipeng Shen, Hongbo Bi, Haomiao Yu","doi":"10.1177/09596518241227491","DOIUrl":"https://doi.org/10.1177/09596518241227491","url":null,"abstract":"For marine surface vessel with input saturation, model uncertainties, and unknown disturbances, this article proposes a path-following control and collision avoidance method based on error-constrained event-triggered switching line-of-sight guidance. This method can autonomously switch between path-following and collision avoidance modes, constrain the position and heading errors to satisfy safe navigation in confined waters, and reduce the computational frequency of the controller and the mechanical wear of the actuator. In the path-following mode, we construct an asymmetric modified barrier Lyapunov function to constrain the position errors and use the relative threshold event-triggered mechanism to reduce the update frequency of the guidance heading angle. In the collision avoidance mode, static or dynamic obstacles are avoided through the response of collision avoidance radius. In the heading and velocity control design, asymmetric modified barrier Lyapunov function and event-triggered mechanism are also applied, so that the marine surface vessel can track the guided heading angle and meet the heading error-constrained while reducing the update frequency of the controller. The adaptive auxiliary systems are used to compensate for the input saturation, and radial basis function neural networks and adaptive laws are used to approximate the model uncertainties and composite disturbances. According to the Lyapunov stability theory, all signals are semi-globally uniformly ultimately bounded and the Zeno phenomenon is avoided. Finally, the comparative experiment shows the superiority of the designed control strategy.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"44 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-02-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139954707","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 : 2024-02-16DOI: 10.1177/09596518241227595
Jinfeng Gao, Wendong Xie, Ping Wu, Peter X Liu
The event-based finite-time [Formula: see text] filtering problem for networked systems is concerned. A novel hybrid attack model is introduced considering denial-of-service and deception attacks in the communication channel between sampler and filter with an aperiodic form. In order to increase the effectiveness of data transmission in network communication channel and enable the filtering system against attack, an adaptive event–triggered mechanism is proposed. Sufficient condition for ensuring exponential mean-square finite-time boundedness of the filtering error system with an expected [Formula: see text] disturbance attenuation index is obtained. The design of the filter and the adaptive event–triggered mechanism is derived. A practical example is given to demonstrate the effectiveness of the proposed filtering scheme in an active suspension system.
{"title":"Adaptive event–based finite-time H∞ filtering for networked systems under hybrid attack","authors":"Jinfeng Gao, Wendong Xie, Ping Wu, Peter X Liu","doi":"10.1177/09596518241227595","DOIUrl":"https://doi.org/10.1177/09596518241227595","url":null,"abstract":"The event-based finite-time [Formula: see text] filtering problem for networked systems is concerned. A novel hybrid attack model is introduced considering denial-of-service and deception attacks in the communication channel between sampler and filter with an aperiodic form. In order to increase the effectiveness of data transmission in network communication channel and enable the filtering system against attack, an adaptive event–triggered mechanism is proposed. Sufficient condition for ensuring exponential mean-square finite-time boundedness of the filtering error system with an expected [Formula: see text] disturbance attenuation index is obtained. The design of the filter and the adaptive event–triggered mechanism is derived. A practical example is given to demonstrate the effectiveness of the proposed filtering scheme in an active suspension system.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"112 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-02-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139954634","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 : 2024-01-31DOI: 10.1177/09596518241227602
Assem Thabet, Noussaiba Gasmi, Ghazi Bel Haj Frej
In many engineering problems, modelling the state and output derivative variables in reciprocal state space form can be generated more easily than in standard state space one. The formulation of a robust [Formula: see text] control problem using feedback principle for continuous Lipschitz nonlinear systems with uncertainties in reciprocal state space is presented in this article. In contrast to the existing approaches, the considered model is affected by unknown disturbances, parameter uncertainties and derivative Lipschitz nonlinearities. The asymptotic stability based on the proper Lyapunov functions of the closed-loop system is guaranteed. The [Formula: see text] control design resolution problem is ensured through the linear matrix inequality technique, the lemmas and the use of new variables with S-procedure. The performance of the proposed approach is shown through the experimental results using real-time implementation with a digital signal processing device (DSpace DS 1104).
{"title":"Robust state and output feedback stabilization for Lipschitz nonlinear systems in reciprocal state space: Design and real-time validation","authors":"Assem Thabet, Noussaiba Gasmi, Ghazi Bel Haj Frej","doi":"10.1177/09596518241227602","DOIUrl":"https://doi.org/10.1177/09596518241227602","url":null,"abstract":"In many engineering problems, modelling the state and output derivative variables in reciprocal state space form can be generated more easily than in standard state space one. The formulation of a robust [Formula: see text] control problem using feedback principle for continuous Lipschitz nonlinear systems with uncertainties in reciprocal state space is presented in this article. In contrast to the existing approaches, the considered model is affected by unknown disturbances, parameter uncertainties and derivative Lipschitz nonlinearities. The asymptotic stability based on the proper Lyapunov functions of the closed-loop system is guaranteed. The [Formula: see text] control design resolution problem is ensured through the linear matrix inequality technique, the lemmas and the use of new variables with S-procedure. The performance of the proposed approach is shown through the experimental results using real-time implementation with a digital signal processing device (DSpace DS 1104).","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"83 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139955230","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 : 2024-01-29DOI: 10.1177/09596518241227131
Tianmeng Jin, Chun Liu, Xiaofan Wang, Xiaoqiang Ren
This article investigates the fault detection and fault-tolerant control problem for an unmanned surface vehicle exposed to wave-induced disturbances and actuator faults in the physical layer, and delays and deception attacks in the cyber layer. First, a comprehensive vehicle model that includes physical disturbances, faults, time-varying delays, and Bernoulli random variable–based deception attacks is established. Second, an integrated fault detection filter and fault-tolerant controller design are developed to simultaneously provide a high degree of sensitivity to actuator faults and robustness and stability against cyber-physical threats (disturbances, faults, delays, and attacks). Delays and deception attacks are assumed to occur on the channel from fault detection filter to fault-tolerant controller. Finally, the performance and advantages of the integrated fault detection filter and fault-tolerant controller method with the solvability of inequality matrices are evaluated via comparative simulations in the unmanned surface vehicle with both low and high forward speeds.
{"title":"Integrated fault detection filter and fault-tolerant control for the unmanned surface vehicle with deception attacks","authors":"Tianmeng Jin, Chun Liu, Xiaofan Wang, Xiaoqiang Ren","doi":"10.1177/09596518241227131","DOIUrl":"https://doi.org/10.1177/09596518241227131","url":null,"abstract":"This article investigates the fault detection and fault-tolerant control problem for an unmanned surface vehicle exposed to wave-induced disturbances and actuator faults in the physical layer, and delays and deception attacks in the cyber layer. First, a comprehensive vehicle model that includes physical disturbances, faults, time-varying delays, and Bernoulli random variable–based deception attacks is established. Second, an integrated fault detection filter and fault-tolerant controller design are developed to simultaneously provide a high degree of sensitivity to actuator faults and robustness and stability against cyber-physical threats (disturbances, faults, delays, and attacks). Delays and deception attacks are assumed to occur on the channel from fault detection filter to fault-tolerant controller. Finally, the performance and advantages of the integrated fault detection filter and fault-tolerant controller method with the solvability of inequality matrices are evaluated via comparative simulations in the unmanned surface vehicle with both low and high forward speeds.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"129 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139954710","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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