International Journal of Adaptive Control and Signal Processing最新文献

This paper proposes an integrated observer-based fault estimation (FE) and fault-tolerant control (FTC) framework for discrete-time Takagi–Sugeno (T–S) fuzzy systems subject to actuator faults, external disturbances, and parametric uncertainties. A robust $��{�H�}_{�\infty �}�$ fuzzy observer reconstructs the system states and actuator faults, and these estimates drive a state-feedback controller that compensates for faults online while ensuring a prescribed $��{�H�}_{�\infty �}�$ performance. Sufficient linear matrix inequality (LMI) conditions derived using a Lyapunov–Krasovskii functional (LKF) and Finsler's lemma enable tractable synthesis of both the observer and the controller. The method was applied to a lateral vehicle model, which has uncertainties, disturbances, and sudden actuator faults. The results obtained demonstrate that the closed-loop system was stable and made accurate tracking. The results of the method implemented showed accurate estimator performance and robust compensation under faults, which should be highlighted by the credible performance when used in closed loop. The results show that the method has practical application for safety-critical nonlinear systems.

This paper investigates the cooperative output regulation (COR) problem for switched multi-agent systems (MASs) with frequent asynchronism via an event-triggered mechanism (ETM). In order to reduce the conservatism of the traditional approach that allows only one switching during the event interval, the frequent asynchronous switching strategy is introduced into the MASs with switching dynamics. This eliminates the restriction on the minimum dwell time for individual subsystems, and thus permits to switch more frequently during a triggered interval. Subsequently, a distributed event-triggered dynamic compensator is designed. This compensator effectively facilitates the MASs to realize asymptotic tracking of the reference input while successfully rejecting the external disturbance. In contrast to the current achievements, the ETM presented in this article eliminates the need for any global information and avoids persistent communication between neighboring agents. Finally, the rationality of the proposed approach is confirmed by two examples.

This paper proposes an integral sliding mode control (ISMC) method based on preview repetitive control (PRC) for continuous-time nonlinear systems with the presence of matched uncertainties, external disturbances, and norm-bounded nonlinearities. First, a two-dimensional (2D) dynamic system is constructed. Second, the linear matrix inequality (LMI)-based condition is proposed, and the PRC law is designed for the nominal system. Then, a preview repetitive integral sliding mode control (PRISMC) law is obtained by combining an integral sliding mode controller with the preview repetitive controller, which ensures the robustness of the linear system. Finally, the effectiveness of the method is verified by a numerical simulation.

This paper proposes an adaptive multi-lane fusion control strategy for a 2-D plane vehicle platoon with delayed imposed distance constraints (DIDC) and actuator faults. DIDC is a novel distance constraint strategy that allows vehicles to operate freely at the initial stage and gradually enforces the constraint, thereby avoiding excessive early control efforts and enhancing flexibility in distance regulation. To handle the discontinuity caused by transitioning from no constraints to constraints, a shifting function and a transformed error function are designed, converting constrained variables into unconstrained ones while keeping the unconstrained part unchanged. Additionally, dead-zone and actuator fault inputs are linearized, and unknown nonlinearities functions are approximated by radial basis function neural networks (RBFNNs) with weight update laws based on gradient descent to ensure fast convergence. Sliding-mode controllers are developed for position and angle to achieve multi-lane fusion and maintain platoon stability. Simulations and comparative analyses validate the effectiveness of the proposed method.

This article focuses on the dissipative iterative learning control (ILC) for parabolic partial differential equation (PDE) systems. Firstly, with the aid of dissipativity analysis, the proposed P-type learning algorithm can achieve the perfect trajectory tracking based on $��(�{�L�}^{�2�}�,�s�)�$-norm along the iteration axis. Then, by employing the Wirtinger-based inequality, a novel linear matrix inequality (LMI)-based sufficient condition is manifested for the parabolic PDE systems to satisfy the dissipativity, and a solvability criterion of the LMI is also given. Furthermore, the dissipative ILC for parabolic PDE systems in the irregular case is investigated. Finally, the effectiveness of the proposed method is illustrated and validated via simulation examples.

Anti-disturbance performance is crucial for unmanned nonlinear systems in ensuring system stability and safe flight, which has drawn tremendous research attention over past decades. This paper investigates a neural network-based adaptive backstepping controller for attitude of an underactuated tandem rotor helicopter, in which both mass imbalance of two rotors and crosswind load disturbance is considered. First, underactuated dynamical model and detailed wind field as well as load model are established for tandem rotor helicopter system. Then, an adaptive backstepping attitude controller is developed to regulate the motion of three angles simultaneously. The mass difference of two rotors is estimated by adaptive algorithm, while radial basis function (RBF) neural network based on gradient descent algorithm is introduced to identify crosswind load in real time. In addition, the lynchpin of gradient descent algorithm is to construct the neural network approximation error, which is indirectly obtained by establishing interaction between the fitting error and the control error. Finally, comparative simulation tests with Matlab/Simulink are conducted to confirm the efficiency and superiority of the proposed control scheme.

This paper investigates stochastic discrete-time systems with multiplicative state-dependent and input-dependent noise via a novel adaptive dynamic programming(ADP) based control method combined with optimal stationary control techniques. Imposing a notably greater difficulty, the tracking control problem without the knowledge of system dynamics and the reference system has been generalized that the system dynamics do not have to be Hurwitz which is more practically relevant. An augmented system has been constructed while a discount factor has been introduced into the cost function. After the discount factor has been brought in to solve the stochastic algebraic Riccati equation(SARE), the linear quadratic tracking(LQT) problem has been proved to be well-posed. Hence, we develop a second-order moment formulation to solve the SARE. Based on stochastic adaptive control, a novel on-policy ADP algorithm has been proposed to solve the LQT problem by only the state and input data. The convergence and stability of the novel ADP algorithm has been rigorously investigated and discussed. Finally, numerical simulations and practical experiments of two distinguished systems are performed to validate the effectiveness and practicability of the proposed ADP methodology.

This paper addresses the problem of event-triggered predefined-time adaptive bipartite consensus control for nonlinear multi-agent systems (MASs) with actuator faults. By incorporating the command filter and error compensation mechanism into the backstepping design framework, the problem of “explosion of complexity” is effectively handled, while simultaneously reducing the effect of filtered errors. Moreover, the utilization of the adaptive compensation technique and event-triggered control strategy effectively handles unknown actuator faults and conserves communication resources. The singularity issue is resolved by utilizing the feature of hyperbolic tangent functions. It is proven that the closed-loop system is practically predefined-time stable, and the bipartite consensus errors converge to a small neighborhood of the origin within a predefined time. Finally, simulation results confirm the effectiveness of the proposed predefined-time control method.

This paper presents a dissipative filtering approach for a specific class of discrete-time switched interconnected systems (DTSIS). The study considers discrete-time subsystems with coupled states, while accounting for disturbances, sensor failures, and time-varying delays. Also, the DTSIS is subject to uncertainties in the system parameters, which may affect its robustness, stability, and performance. Sensor signals are modeled as sequences of Bernoulli-distributed white noise, reflecting potential errors and inconsistencies. The primary objective is to design a reliable dissipative filter capable of reducing the impact of external noise sources. The challenges posed by switching within the system are addressed using the average dwell time (ADT) method, which helps control the switching behavior. First, a filter is developed for the system under consideration, and the error dynamics are then analyzed through a linear matrix inequality (LMI) approach and Lyapunov-Krasovskii theory. Stability conditions for the augmented system, encompassing both the system and error states, are derived. Finally, a numerical example is provided to demonstrate the effectiveness and practicality of the proposed approach.