Pub Date : 2024-01-06DOI: 10.1177/01423312231201676
Bing-Long Wang, Yan Cai, Jin-Chun Song, N. Sepehri
In this paper, a LuGre model–based robust adaptive control (RAC) approach is presented for a pump-controlled hydraulic actuator. We first decompose the LuGre friction model into its steady-state model and a lumped dynamic part applying the mean value theorem, which are compensated by a feedforward term and a robust adaptive term, respectively. The robust adaptive term also plays a part in mismatched disturbance attenuation. In addition, parametric uncertainties and matched disturbances are handled by σ-modified adaptation laws and a robust control law, respectively. The stability of the closed-loop system is proved via the Lyapunov analysis. The efficacy and robustness of the proposed approach are validated by comparative experiments. Compared with common adaptive friction compensation methods, the proposed method has a simpler structure, less computational burden, better control performance, and stronger robustness. Moreover, since the available information is separated from the LuGre model and acts as a model-based compensation term, the design conservativeness of RAC is effectively reduced.
{"title":"LuGre model–based robust adaptive control for a pump-controlled hydraulic actuator experiencing friction","authors":"Bing-Long Wang, Yan Cai, Jin-Chun Song, N. Sepehri","doi":"10.1177/01423312231201676","DOIUrl":"https://doi.org/10.1177/01423312231201676","url":null,"abstract":"In this paper, a LuGre model–based robust adaptive control (RAC) approach is presented for a pump-controlled hydraulic actuator. We first decompose the LuGre friction model into its steady-state model and a lumped dynamic part applying the mean value theorem, which are compensated by a feedforward term and a robust adaptive term, respectively. The robust adaptive term also plays a part in mismatched disturbance attenuation. In addition, parametric uncertainties and matched disturbances are handled by σ-modified adaptation laws and a robust control law, respectively. The stability of the closed-loop system is proved via the Lyapunov analysis. The efficacy and robustness of the proposed approach are validated by comparative experiments. Compared with common adaptive friction compensation methods, the proposed method has a simpler structure, less computational burden, better control performance, and stronger robustness. Moreover, since the available information is separated from the LuGre model and acts as a model-based compensation term, the design conservativeness of RAC is effectively reduced.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":"3 11","pages":""},"PeriodicalIF":1.8,"publicationDate":"2024-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139380764","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 : 2024-01-06DOI: 10.1177/01423312231198891
Sun Chuqi, Xiao Yan, Ye Dong, Junyan Hou, Zhaowei Sun
On-orbit servicing has become one of the challenging frontiers of space operations. Most of the on-orbit missions require an important technology, pose synchronization, to prepare or implement the tasks. The nonlinearity caused by the couple between orbit and attitude often brings inconvenience when designing series of control strategies. This paper addresses a novel reformulation for pose dynamics based on dual quaternion, in which the problem of the nonlinearity of pose coupled dynamics for rigid spacecraft is mainly concerned. In this research, we intend to use the Takagi–Sugeno (TS) fuzzy modeling method to remodel the pose dynamics based on dual quaternion. Based on the reconstructed model, the original nonlinear system can be equivalently linearized in the fuzzy field. Subsequently, a global stabilized controller for system stabilization as a feasible control scheme is proposed. For further research, a feedback-based model predictive control (MPC) strategy is proposed to optimize the fuel consumption during the stabilization of the system. Finally, numerical simulations are provided to verify the effectiveness of the proposed modeling and control strategies.
{"title":"Model predictive control for pose synchronization of satellite proximity via the Takagi–Sugeno fuzzy modeling method","authors":"Sun Chuqi, Xiao Yan, Ye Dong, Junyan Hou, Zhaowei Sun","doi":"10.1177/01423312231198891","DOIUrl":"https://doi.org/10.1177/01423312231198891","url":null,"abstract":"On-orbit servicing has become one of the challenging frontiers of space operations. Most of the on-orbit missions require an important technology, pose synchronization, to prepare or implement the tasks. The nonlinearity caused by the couple between orbit and attitude often brings inconvenience when designing series of control strategies. This paper addresses a novel reformulation for pose dynamics based on dual quaternion, in which the problem of the nonlinearity of pose coupled dynamics for rigid spacecraft is mainly concerned. In this research, we intend to use the Takagi–Sugeno (TS) fuzzy modeling method to remodel the pose dynamics based on dual quaternion. Based on the reconstructed model, the original nonlinear system can be equivalently linearized in the fuzzy field. Subsequently, a global stabilized controller for system stabilization as a feasible control scheme is proposed. For further research, a feedback-based model predictive control (MPC) strategy is proposed to optimize the fuel consumption during the stabilization of the system. Finally, numerical simulations are provided to verify the effectiveness of the proposed modeling and control strategies.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":"2 12","pages":""},"PeriodicalIF":1.8,"publicationDate":"2024-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139380689","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 : 2024-01-06DOI: 10.1177/01423312231193946
Juan Huang, Xiaoming Tang, Zidi Xia, Na Wei, Cheng Tan
In this article, the guaranteed cost control problem for a class of nonlinear networked control systems (NCSs) with dynamic quantization, external bounded disturbance, and data dropout is investigated via the dynamic output feedback. The Takagi–Sugeno (T-S) fuzzy model is used to represent the discrete-time nonlinear system discussed in this paper. Under the dynamic quantization strategy, two quantizers with dynamic parameters are used to quantize the measured output and control input, and the data dropout process is described by introducing the Bernoulli stochastic variable. By using the quadratic boundedness technique, the quadratic stability of the quantized NCS with external disturbance is described. Furthermore, the sufficient condition for the global design approach are proposed, that is, not only the dynamic output feedback controller but parameters of the quantizers are designed synchronously with strict linear matrix inequalities. Eventually, a simulation of nonlinear mass-spring-damper mechanical system is carried out to verify the effectiveness of the provided algorithm.
{"title":"Quantized guaranteed cost dynamic output feedback control for uncertain nonlinear networked systems with external disturbance","authors":"Juan Huang, Xiaoming Tang, Zidi Xia, Na Wei, Cheng Tan","doi":"10.1177/01423312231193946","DOIUrl":"https://doi.org/10.1177/01423312231193946","url":null,"abstract":"In this article, the guaranteed cost control problem for a class of nonlinear networked control systems (NCSs) with dynamic quantization, external bounded disturbance, and data dropout is investigated via the dynamic output feedback. The Takagi–Sugeno (T-S) fuzzy model is used to represent the discrete-time nonlinear system discussed in this paper. Under the dynamic quantization strategy, two quantizers with dynamic parameters are used to quantize the measured output and control input, and the data dropout process is described by introducing the Bernoulli stochastic variable. By using the quadratic boundedness technique, the quadratic stability of the quantized NCS with external disturbance is described. Furthermore, the sufficient condition for the global design approach are proposed, that is, not only the dynamic output feedback controller but parameters of the quantizers are designed synchronously with strict linear matrix inequalities. Eventually, a simulation of nonlinear mass-spring-damper mechanical system is carried out to verify the effectiveness of the provided algorithm.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":"10 9","pages":""},"PeriodicalIF":1.8,"publicationDate":"2024-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139380257","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 paper is concerned with the event-triggered control of switched two-dimensional (2D) continuous-discrete systems in Roesser model. A more general event-triggered scheme is proposed to reduce unnecessary resource waste and data redundancy, where a weighing coefficient and multiple parameter matrices are used. Based on the proposed event-triggered mechanism, a state feedback controller and a state-dependent switching signal are proposed. By using the multiple Lyapunov function method, sufficient conditions for the exponential stability of the closed-loop system are derived in terms of linear matrix inequalities. Finally, two examples are provided to illustrate the effectiveness of the proposed method.
{"title":"Event-triggered control of switched 2D continuous-discrete systems","authors":"Maosen Luo, Shipei Huang, Zhengbing Yan, Zhengjiang Zhang, Guoqiang Zeng","doi":"10.1177/01423312231199142","DOIUrl":"https://doi.org/10.1177/01423312231199142","url":null,"abstract":"This paper is concerned with the event-triggered control of switched two-dimensional (2D) continuous-discrete systems in Roesser model. A more general event-triggered scheme is proposed to reduce unnecessary resource waste and data redundancy, where a weighing coefficient and multiple parameter matrices are used. Based on the proposed event-triggered mechanism, a state feedback controller and a state-dependent switching signal are proposed. By using the multiple Lyapunov function method, sufficient conditions for the exponential stability of the closed-loop system are derived in terms of linear matrix inequalities. Finally, two examples are provided to illustrate the effectiveness of the proposed method.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":"9 16","pages":""},"PeriodicalIF":1.8,"publicationDate":"2024-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139380316","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}
In this paper, a distributed nonsingular terminal sliding mode control (NTSMC) is proposed for vehicular platoons subjected to nonlinear uncertainty, external disturbance, and input saturation. Due to the presence of input saturation, the platoon control becomes more complicated. However, only considering the impact of uncertainty on the system, input saturation will usually lead to a decline in the driving performance, even lead to string instability. First, the input saturation is compensated by a single parameter, which is simple and direct. The radial basis function neural network (RBFNN) based on disturbance observer is employed to compensate the nonlinear uncertainty and external disturbance, respectively. The basis function of neural network is only related to the velocity and acceleration of the leader. Therefore, the nonlinearity of the vehicle systems does not need to meet the matching conditions. Then, a distributed NTSMC is designed to realize the internal stability, which weakens the chattering of traditional sliding mode control (SMC) to some extent. In addition, the nonsingular problem in terminal sliding mode control (TSMC) is solved. The string stability is realized by employing a coupled sliding mode control (CSMC). Finally, simulation results demonstrate the effectiveness and feasibility of the proposed strategy.
{"title":"Distributed nonsingular terminal sliding mode control–based RBFNN for heterogeneous vehicular platoons with input saturation","authors":"Jianmei Wang, Xiaoyuan Luo, Mengjie Li, Xinping Guan","doi":"10.1177/01423312231197848","DOIUrl":"https://doi.org/10.1177/01423312231197848","url":null,"abstract":"In this paper, a distributed nonsingular terminal sliding mode control (NTSMC) is proposed for vehicular platoons subjected to nonlinear uncertainty, external disturbance, and input saturation. Due to the presence of input saturation, the platoon control becomes more complicated. However, only considering the impact of uncertainty on the system, input saturation will usually lead to a decline in the driving performance, even lead to string instability. First, the input saturation is compensated by a single parameter, which is simple and direct. The radial basis function neural network (RBFNN) based on disturbance observer is employed to compensate the nonlinear uncertainty and external disturbance, respectively. The basis function of neural network is only related to the velocity and acceleration of the leader. Therefore, the nonlinearity of the vehicle systems does not need to meet the matching conditions. Then, a distributed NTSMC is designed to realize the internal stability, which weakens the chattering of traditional sliding mode control (SMC) to some extent. In addition, the nonsingular problem in terminal sliding mode control (TSMC) is solved. The string stability is realized by employing a coupled sliding mode control (CSMC). Finally, simulation results demonstrate the effectiveness and feasibility of the proposed strategy.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":"12 49","pages":""},"PeriodicalIF":1.8,"publicationDate":"2024-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139380349","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 : 2024-01-06DOI: 10.1177/01423312231208258
Wenbo Pi, Wenhui Liu
In this article, an event-triggered finite-time neural control strategy is proposed for nonlinear power systems with unknown disturbances and static var compensator (SVC). We first transform the power system with SVC into a three-dimensional uncertain nonlinear system and then extend it to an [Formula: see text]-dimensional uncertain nonlinear system. The disturbance observer is established to estimate external disturbances and the unknown nonlinear terms are approximated by the radial basis function neural networks. Moreover, to avoid the complexity explosion problem in the traditional backstepping method, the command filtering technique is adopted, and the error caused by the command filters is compensated. The adaptive event-triggered finite-time controller ensures that all signals are bounded in finite time and excludes Zeno phenomena. In the end, the simulation for the two-area interconnected power system with SVC is presented to verify the availability and feasibility of the proposed approach.
{"title":"Event-triggered finite-time neural control for uncertain nonlinear systems with unknown disturbances and its application in SVC","authors":"Wenbo Pi, Wenhui Liu","doi":"10.1177/01423312231208258","DOIUrl":"https://doi.org/10.1177/01423312231208258","url":null,"abstract":"In this article, an event-triggered finite-time neural control strategy is proposed for nonlinear power systems with unknown disturbances and static var compensator (SVC). We first transform the power system with SVC into a three-dimensional uncertain nonlinear system and then extend it to an [Formula: see text]-dimensional uncertain nonlinear system. The disturbance observer is established to estimate external disturbances and the unknown nonlinear terms are approximated by the radial basis function neural networks. Moreover, to avoid the complexity explosion problem in the traditional backstepping method, the command filtering technique is adopted, and the error caused by the command filters is compensated. The adaptive event-triggered finite-time controller ensures that all signals are bounded in finite time and excludes Zeno phenomena. In the end, the simulation for the two-area interconnected power system with SVC is presented to verify the availability and feasibility of the proposed approach.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":"6 8","pages":""},"PeriodicalIF":1.8,"publicationDate":"2024-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139380811","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 : 2024-01-06DOI: 10.1177/01423312231195657
Xiangfei Meng, Guichen Zhang, Qiang Zhang, Bing Han
This paper is aiming at enabling the underactuated surface vessels (USVs) to complete the tracking task with high precision and fast convergence under the influence of unknown external interference, dynamic uncertainty, input saturation, limited communication resources, and actuator failure. Specifically, a trajectory tracking control scheme is designed using virtual control switching, robust self-adaptation, finite-time, event-triggered, and disturbance compensation techniques. The norm calculation is performed on the lateral and longitudinal errors of the underactuated USVs, and the virtual guidance direction of the system is obtained through virtual control conversion. The hyperbolic tangent function is introduced and combined with adaptive technology to compensate the dynamic uncertainty of the system. Through the multivariate finite-time disturbance observer (MFTDO), the unknown disturbance and the bias fault factor of the system are compensated. The tracking performance of the system is further improved using the finite-time technology and combined with the event-triggered technology to reduce the update frequency of the controller signal. Using Lyapunov stability theory, a detailed stability analysis is provided for the control scheme. Finally, the effectiveness of the control design scheme is verified by simulation.
{"title":"Event-triggered adaptive command-filtered trajectory tracking control for underactuated surface vessels based on multivariate finite-time disturbance observer under actuator faults and input saturation","authors":"Xiangfei Meng, Guichen Zhang, Qiang Zhang, Bing Han","doi":"10.1177/01423312231195657","DOIUrl":"https://doi.org/10.1177/01423312231195657","url":null,"abstract":"This paper is aiming at enabling the underactuated surface vessels (USVs) to complete the tracking task with high precision and fast convergence under the influence of unknown external interference, dynamic uncertainty, input saturation, limited communication resources, and actuator failure. Specifically, a trajectory tracking control scheme is designed using virtual control switching, robust self-adaptation, finite-time, event-triggered, and disturbance compensation techniques. The norm calculation is performed on the lateral and longitudinal errors of the underactuated USVs, and the virtual guidance direction of the system is obtained through virtual control conversion. The hyperbolic tangent function is introduced and combined with adaptive technology to compensate the dynamic uncertainty of the system. Through the multivariate finite-time disturbance observer (MFTDO), the unknown disturbance and the bias fault factor of the system are compensated. The tracking performance of the system is further improved using the finite-time technology and combined with the event-triggered technology to reduce the update frequency of the controller signal. Using Lyapunov stability theory, a detailed stability analysis is provided for the control scheme. Finally, the effectiveness of the control design scheme is verified by simulation.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":"11 10","pages":""},"PeriodicalIF":1.8,"publicationDate":"2024-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139380417","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 : 2024-01-06DOI: 10.1177/01423312231204700
Jiaqi Wang, Boyong Hu, Lu Lu, Wenjing Zhong, Fang Fang, Yajuan Liu
This paper presents an event-triggered sliding mode fault-tolerant control method for networked control systems with actuator faults and external disturbance. First, an event-triggered scheme in the networked control systems is proposed to reduce the number of data transmission. In addition, considering the event-triggering, a sliding mode surface based on the system structure is constructed. Besides, to obtain the controller parameters that meet the [Formula: see text] performance, the bounded real lemma in the form of linear matrix inequality is obtained using the Lyapunov functional. In addition, a sliding mode fault-tolerant control is designed to guarantee that the system can still run stably under the condition of faults and disturbances. Finally, the simulation results of gas turbine system are given to verify the feasibility of the theoretical method.
{"title":"Event-triggered sliding mode control for networked control systems with actuator faults: Application to gas turbine system","authors":"Jiaqi Wang, Boyong Hu, Lu Lu, Wenjing Zhong, Fang Fang, Yajuan Liu","doi":"10.1177/01423312231204700","DOIUrl":"https://doi.org/10.1177/01423312231204700","url":null,"abstract":"This paper presents an event-triggered sliding mode fault-tolerant control method for networked control systems with actuator faults and external disturbance. First, an event-triggered scheme in the networked control systems is proposed to reduce the number of data transmission. In addition, considering the event-triggering, a sliding mode surface based on the system structure is constructed. Besides, to obtain the controller parameters that meet the [Formula: see text] performance, the bounded real lemma in the form of linear matrix inequality is obtained using the Lyapunov functional. In addition, a sliding mode fault-tolerant control is designed to guarantee that the system can still run stably under the condition of faults and disturbances. Finally, the simulation results of gas turbine system are given to verify the feasibility of the theoretical method.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":"11 18","pages":""},"PeriodicalIF":1.8,"publicationDate":"2024-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139380647","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 : 2024-01-06DOI: 10.1177/01423312231198400
Zhongze Cai, Guhao Sun, Qingshuang Zeng
This paper’s primary motivation is to present a globally predefined-time sliding mode control (PtSMC) strategy to stabilize a class of second-order systems subjected to matched and mismatched disturbances. To achieve this, the paper proposes a new exact time disturbance observer (DOB) based on a terminal time regulator, which accurately estimates the disturbances within a prescribed time, effectively preventing the system state from escaping to infinity due to high gains and overestimation. In addition, a new predefined-time sliding mode variable with the estimation of DOB is developed to ensure a predefined-time convergence on the sliding mode phase against mismatched disturbances. The proposed DOB-based technique can alleviate the chattering resulting from the use of an overestimated gain, in contrast to the controller without employing a DOB. Furthermore, a predefined-time reaching law is introduced to guarantee a global predefined-time convergence. This paper establishes the stability of the disturbed second-order system under the proposed controller through strict Lyapunov analysis. The novelty of the proposed method lies in its global predefined-time convergence, chattering-reduced properties and robustness against matched and mismatched disturbances. Finally, numerical simulations and application examples validate the proposed methodology’s effectiveness.
本文的主要动机是提出一种全局预定义时间滑模控制（PtSMC）策略，以稳定一类受到匹配和不匹配干扰的二阶系统。为此，本文提出了一种基于终端时间调节器的新型精确时间扰动观测器（DOB），它能在规定时间内精确估计扰动，有效防止系统状态因高增益和高估而逸散到无穷大。此外，还开发了一种带有 DOB 估计的新预定义时间滑动模式变量，以确保滑动模式阶段在预定义时间内收敛，从而对抗不匹配的干扰。与未采用 DOB 的控制器相比，所提出的基于 DOB 的技术可减轻因使用过高估计的增益而产生的颤振。此外，本文还引入了预定义时间达到定律，以保证全局预定义时间收敛。本文通过严格的 Lyapunov 分析，确定了所提控制器下受干扰二阶系统的稳定性。所提方法的新颖之处在于其全局预定义时间收敛性、减少振颤的特性以及对匹配和不匹配干扰的鲁棒性。最后，数值模拟和应用实例验证了所提方法的有效性。
{"title":"Predefined-time sliding mode control based on exact time disturbance observer for second-order systems with matched and mismatched disturbances","authors":"Zhongze Cai, Guhao Sun, Qingshuang Zeng","doi":"10.1177/01423312231198400","DOIUrl":"https://doi.org/10.1177/01423312231198400","url":null,"abstract":"This paper’s primary motivation is to present a globally predefined-time sliding mode control (PtSMC) strategy to stabilize a class of second-order systems subjected to matched and mismatched disturbances. To achieve this, the paper proposes a new exact time disturbance observer (DOB) based on a terminal time regulator, which accurately estimates the disturbances within a prescribed time, effectively preventing the system state from escaping to infinity due to high gains and overestimation. In addition, a new predefined-time sliding mode variable with the estimation of DOB is developed to ensure a predefined-time convergence on the sliding mode phase against mismatched disturbances. The proposed DOB-based technique can alleviate the chattering resulting from the use of an overestimated gain, in contrast to the controller without employing a DOB. Furthermore, a predefined-time reaching law is introduced to guarantee a global predefined-time convergence. This paper establishes the stability of the disturbed second-order system under the proposed controller through strict Lyapunov analysis. The novelty of the proposed method lies in its global predefined-time convergence, chattering-reduced properties and robustness against matched and mismatched disturbances. Finally, numerical simulations and application examples validate the proposed methodology’s effectiveness.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":"10 4","pages":""},"PeriodicalIF":1.8,"publicationDate":"2024-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139380793","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 : 2024-01-06DOI: 10.1177/01423312231198412
Yuanhong Ren, Zhiwei Li, Yuqing Sun
The problems of prescribed-time leader-following consensus and prescribed-time containment control for double-integrator multiagent systems (MASs) with only position measurements are investigated in this paper. An observer-based prescribed-time control protocol is proposed, in which the two groups of observers for estimating the consensus errors of each follower both converge to zero within a specified time. Furthermore, the proposed controller only relies on its own observers and does not need to obtain the data from observers embedded in its neighbor nodes. The sufficient conditions for the MASs to achieve the defined prescribed-time consensus and to fulfill the goal of prescribed-time containment control are, respectively, given. The effectiveness of the proposed control protocol is further verified by computer simulations.
本文研究了仅有位置测量的双积分多代理系统（MAS）的规定时间领导-跟随共识和规定时间遏制控制问题。本文提出了一种基于观测器的规定时间控制协议，其中用于估计每个跟随者共识误差的两组观测器都能在规定时间内收敛为零。此外，所提出的控制器只依赖于自身的观测器，而无需从嵌入在邻节点中的观测器获取数据。分别给出了 MAS 实现规定时间共识和规定时间遏制控制目标的充分条件。计算机仿真进一步验证了所提控制协议的有效性。
{"title":"Prescribed-time leader-following consensus and containment control for second-order multiagent systems with only position measurements","authors":"Yuanhong Ren, Zhiwei Li, Yuqing Sun","doi":"10.1177/01423312231198412","DOIUrl":"https://doi.org/10.1177/01423312231198412","url":null,"abstract":"The problems of prescribed-time leader-following consensus and prescribed-time containment control for double-integrator multiagent systems (MASs) with only position measurements are investigated in this paper. An observer-based prescribed-time control protocol is proposed, in which the two groups of observers for estimating the consensus errors of each follower both converge to zero within a specified time. Furthermore, the proposed controller only relies on its own observers and does not need to obtain the data from observers embedded in its neighbor nodes. The sufficient conditions for the MASs to achieve the defined prescribed-time consensus and to fulfill the goal of prescribed-time containment control are, respectively, given. The effectiveness of the proposed control protocol is further verified by computer simulations.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":"8 46","pages":""},"PeriodicalIF":1.8,"publicationDate":"2024-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139380325","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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