European Journal of Control最新文献

英文中文

Communication-aware formation control for networks of AUVs 自动潜航器网络的通信感知编队控制

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-11-01 DOI: 10.1016/j.ejcon.2024.101062

Simon A. Hoff, Josef Matouš, Damiano Varagnolo, Kristin Y. Pettersen

We propose a distributed formation control algorithm augmented with communication awareness. We consider autonomous underwater vehicles (AUVs) that are able to communicate over an acoustic link using a Time Division Multiple Access (TDMA) protocol, and to measure the Signal-to-Noise Ratio (SNR) of incoming messages. Based on the measured SNR and packet loss, we endow them with a distributed formation control scheme that accounts for the time-varying nature of the acoustic communication channel. This scheme allows a network of

N

AUVs to follow a pre-determined, twice-differentiable path while adapting their formation. The size of the formation is dynamically scaled by a formation adaptation mechanism to stabilize the estimated packet loss probability at a desired level. A distributed packet loss estimator is then built on top of the same average consensus routines used by the formation control algorithm, and thus comes with a minimal communication overhead. We test the algorithm by means of high-fidelity simulators, and verify its efficacy in making the network of agents retain formation-wide communication capabilities in a range of cases.

我们提出了一种具有通信意识的分布式编队控制算法。我们考虑的自主水下航行器（AUV）能够使用时分多址（TDMA）协议通过声学链路进行通信，并测量传入信息的信噪比（SNR）。根据测量到的信噪比和数据包丢失情况，我们为它们提供了一种考虑到声学通信信道时变特性的分布式编队控制方案。该方案允许由 N 个 AUV 组成的网络遵循预先确定的两次可变路径，同时调整其编队。编队规模由编队适应机制动态调整，以将估计的数据包丢失概率稳定在所需水平。然后，在编队控制算法使用的相同平均共识例程基础上建立分布式丢包率估算器，从而将通信开销降至最低。我们通过高保真模拟器对该算法进行了测试，并验证了它在一系列情况下保持整个代理网络通信能力的有效性。

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引用次数: 0

Minimizing the homogeneous L2-gain of homogeneous differentiators 使同质微分器的同质 L2 增益最小化

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-11-01 DOI: 10.1016/j.ejcon.2024.101039

Benjamin Calmbach , Jaime A. Moreno , Johann Reger

The differentiation of noisy signals using the family of homogeneous differentiators is considered. It includes the high-gain (linear) as well as robust exact (discontinuous) differentiator. To characterize the effect of noise and disturbance on the differentiation estimation error, the generalized, homogeneous

L_{2}

-gain is utilized. Analog to the classical

L_{p}

-gain, it is not defined for the discontinuous case w.r.t. disturbances acting on the last channel. Thus, only continuous differentiators are addressed. The gain is estimated using a differential dissipation inequality, where a scaled Lyapunov function acts as storage function for the homogeneous

L_{2}

supply rate. The fixed differentiator gains are scaled with a gain-scaling parameter similar to the high-gain differentiator. This paper shows the existence of an optimal scaling which minimizes the homogeneous

L_{2}

-gain estimate and provides a procedure to obtain it locally. Differentiators of dimension two are considered and the results are illustrated via numerical evaluation and a simulation example.

研究考虑了使用同质微分器系列对噪声信号进行微分的问题。它包括高增益（线性）微分器和稳健精确（非连续）微分器。为了描述噪声和干扰对微分估计误差的影响，使用了广义同质 L2 增益。与经典的 Lp 增益类似，它并不针对作用于最后一个信道的干扰的不连续情况。因此，只涉及连续微分器。增益是通过微分耗散不等式估算的，其中按比例缩放的 Lyapunov 函数充当了同质 L2 供给率的存储函数。固定微分器增益的缩放参数与高增益微分器类似。本文证明了最优缩放的存在，它能使同质 L2 增益估计值最小化，并提供了局部获取最优缩放的程序。本文考虑了维数为 2 的微分器，并通过数值评估和仿真实例对结果进行了说明。

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引用次数: 0

Output feedback integral sliding mode predictive control for linear discrete time systems 线性离散时间系统的输出反馈积分滑模预测控制

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-11-01 DOI: 10.1016/j.ejcon.2024.101131

Huili Xiao , Shuzhan Zhang , Dongya Zhao , Xinggang Yan , Sarah K. Spurgeon

In this paper, a new output feedback integral sliding model predictive control (OF-ISMPC) strategy is proposed for linear discrete-time systems when the states are unmeasured, which avoids the utilization of a state observer. The proposed OF-ISMPC can ensure strong robustness while at the same time achieving optimal performance of the controlled system. The role of the output feedback integral sliding mode control (OF-ISMC) is to compensate for any matched disturbances. The role of the output feedback robust model predictive control (OF-RMPC) is to solve the optimization problem with constraints. Moreover, the impact of unmatched disturbances on the system is reduced by defining the integral sliding surface as a function of an optimal projection matrix. The input-to-state practical stability for the closed-loop system is proved. Finally, numerical simulations and experimental results are provided to validate the effectiveness of the proposed approach.

本文针对状态无法测量的线性离散时间系统，提出了一种新的输出反馈积分滑动模型预测控制（OF-ISMPC）策略，避免了对状态观测器的使用。所提出的 OF-ISMPC 既能确保较强的鲁棒性，又能使被控系统达到最佳性能。输出反馈积分滑模控制（OF-ISMC）的作用是补偿任何匹配干扰。输出反馈鲁棒模型预测控制（OF-RMPC）的作用是解决带有约束条件的优化问题。此外，通过将积分滑动面定义为最优投影矩阵的函数，可减少非匹配干扰对系统的影响。证明了闭环系统的输入到状态实际稳定性。最后，还提供了数值模拟和实验结果，以验证所提方法的有效性。

引用次数: 0

Data-driven event-triggering mechanism for linear systems subject to input saturation 输入饱和线性系统的数据驱动事件触发机制

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-11-01 DOI: 10.1016/j.ejcon.2024.101045

Alexandre Seuret , Sophie Tarbouriech

This paper focuses on designing an event-triggering mechanism aimed at reducing control updates while maintaining the stability of a saturated closed-loop system. It addresses the regional stabilization of linear systems under input saturation conditions from a data-driven perspective. To do so, we propose a systematic method to convert model-driven conditions into data-driven control design Linear Matrix Inequality (LMI) conditions, enabling the co-design of the event-triggering rule and the state feedback gain. The theoretical contribution is then applied to the control of a spacecraft rendezvous problem.

本文的重点是设计一种事件触发机制，旨在减少控制更新，同时保持饱和闭环系统的稳定性。它从数据驱动的角度探讨了输入饱和状态下线性系统的区域稳定问题。为此，我们提出了一种系统方法，将模型驱动条件转换为数据驱动控制设计的线性矩阵不等式（LMI）条件，从而实现事件触发规则和状态反馈增益的共同设计。理论贡献随后被应用于航天器交会问题的控制。

引用次数: 0

Adaptive asymptotic tracking control of constrained nonlinear MIMO systems subject to unknown hysteresis input: A novel network-based strategy 受制于未知滞后输入的非线性多输入多输出系统的自适应渐近跟踪控制：基于网络的新策略

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-10-19 DOI: 10.1016/j.ejcon.2024.101127

Wei Zhao , Yu-Qun Han , Shan-Liang Zhu

This paper presents a referential adaptive asymptotic tracking control scheme for nonlinear multi-input and multi-output (MIMO) systems with time-varying full-state constraints and unknown hysteresis input. In order to achieve good asymptotic tracking effect, a zero-limit positive continuous function is introduced into the adaptive backstepping design process while thoroughly considering the impact of disturbance-like terms on the tracking effect. Additionally, a new variable is also imported to replace the reciprocal of unknown coefficient of the Bouc–Wen hysteresis model. Then, a new adaptive law about the new variable is added by combining the positive function, which can not only lessen the impact of the unknown hysteresis input on the tracking effect, but also avoid the “singularity” problem. Aiming at the time-varying full-state constraints, a appropriate time-varying log-type barrier Lyapunov function (TLBLF) is constructed to ensure that all the states of the system are restricted within the constraint scope. Finally, a significant adaptive asymptotic tracking scheme is designed based on multi-dimensional Taylor network (MTN) approximation technology. Apart from achieving high-precision asymptotic tracking performance, the proposed scheme ensures the boundedness of all signals of the closed-loop system without violating the full-state constraints. And, three simulations are given to verify the effectiveness of the scheme.

本文针对具有时变全状态约束和未知滞后输入的非线性多输入多输出（MIMO）系统，提出了一种参考自适应渐近跟踪控制方案。为了实现良好的渐近跟踪效果，在自适应反步进设计过程中引入了零极限正连续函数，同时充分考虑了类扰动项对跟踪效果的影响。此外，还引入了一个新变量来替代 Bouc-Wen 迟滞模型中未知系数的倒数。然后，结合正函数，添加一个关于新变量的新自适应法则，这样不仅可以减少未知磁滞输入对跟踪效果的影响，还能避免 "奇异性 "问题。针对时变全状态约束，构建了合适的时变对数型障碍李亚普诺夫函数（TLBLF），以确保系统的所有状态都限制在约束范围内。最后，基于多维泰勒网络（MTN）逼近技术，设计了一种重要的自适应渐近跟踪方案。除了实现高精度渐近跟踪性能外，该方案还能在不违反全状态约束的情况下确保闭环系统所有信号的有界性。此外，还给出了三个仿真来验证该方案的有效性。

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引用次数: 0

Adaptive finite-time consensus tracking for nonlinear second-order multi-agent systems based on integral sliding mode 基于积分滑动模式的非线性二阶多代理系统的自适应有限时间共识跟踪

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-10-14 DOI: 10.1016/j.ejcon.2024.101122

Shan Wang , Xisheng Zhan , Jie Wu , Huaicheng Yan

This paper delves into the investigation of finite-time consensus for second-order nonlinear multi-agent systems (MASs) with external disturbances under directed topology. The MASs considered in this study consist of

n

followers and a leader, and the followers are subject to bounded disturbances. First, a continuous nonsingular integral terminal sliding mode is designed, which can effectively eliminate the singularity and chattering. Then, a finite-time disturbance observer is introduced to estimate and compensate for disturbances. Subsequently, an integral sliding mode adaptive controller is designed to enhance system’s robustness, improve response speed, and increase tracking accuracy. Furthermore, Lyapunov theory is utilized to demonstrate that the system achieves finite-time consensus under a directed connected topology. Finally, we apply a simulation to verify the efficacy of the proposed consensus control protocol.

本文深入研究了在有向拓扑结构下具有外部干扰的二阶非线性多代理系统（MAS）的有限时间共识。本研究考虑的 MAS 由 n 个跟随者和一个领导者组成，跟随者受到有界干扰。首先，设计了一种连续非奇异积分终端滑动模式，它能有效消除奇异性和颤振。然后，引入有限时间扰动观测器来估计和补偿扰动。随后，设计了积分滑模自适应控制器，以增强系统的鲁棒性、提高响应速度和跟踪精度。此外，我们还利用 Lyapunov 理论证明了该系统能在有向连接拓扑结构下实现有限时间共识。最后，我们应用仿真验证了所提出的共识控制协议的有效性。

引用次数: 0

Consensus for discrete-time second-order multi-agent systems in the presence of noises and semi-Markovian switching topologies 存在噪声和半马尔可夫切换拓扑的离散-时间二阶多代理系统的共识

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-10-10 DOI: 10.1016/j.ejcon.2024.101124

Xiaojin Huang , Yongjian Liu , Jianhua Huang

In this paper, we focus on the control problem of mean square consensus for second-order continuous-time multi-agent systems with multiplicative noises under Markovian switching topologies. A new Lyapunov function based on the Laplacian matrix of the corresponding union topology of all possible topologies is designed for the stochastic stability analysis of consensus. Applying matrix theory and stochastic stability for stochastic differential equations, we can analyze the consensus problem of the considered systems with the designed Lyapunov function. In addition, we present the sufficient conditions of the mean square consensus exponentially for the considered stochastic systems. Finally, we give an simulation example to numerically validate our theoretical results.

本文重点研究了马尔可夫切换拓扑下具有乘法噪声的二阶连续时间多代理系统的均方共识控制问题。基于所有可能拓扑的相应联合拓扑的拉普拉斯矩阵，设计了一种新的 Lyapunov 函数，用于共识的随机稳定性分析。应用矩阵理论和随机微分方程的随机稳定性，我们可以用设计的 Lyapunov 函数分析所考虑系统的共识问题。此外，我们还提出了所考虑的随机系统指数均方共识的充分条件。最后，我们给出了一个仿真实例，从数值上验证了我们的理论结果。

引用次数: 0

Stabilization of hybrid stochastic differential delay equations by feedback control based on discrete-time state observation 通过基于离散时态观测的反馈控制稳定混合随机微分延迟方程

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-10-10 DOI: 10.1016/j.ejcon.2024.101126

Yin-Qiu Zhang , Xing Chen , Guangying Lv

For an unstable hybrid stochastic differential delay equation, this paper designs a feedback control based on discrete-time state observation to make the controlled system become almost sure exponential stability. In order to reveal the relationship between the two features contained in the system, namely, the dependence of duration between two consecutive observations on time-delay, the method of Lyapunov functional and auxiliary system are combined in this paper. It is shown that the underlying system possesses almost sure exponential stability for sufficiently small time-interval between two consecutive observations. Finally, an illustrative example is given to show the effectiveness of the proposed control strategy.

对于不稳定的混合随机微分延迟方程，本文设计了一种基于离散时间状态观测的反馈控制，使被控系统几乎确定指数稳定。为了揭示系统所包含的两个特征之间的关系，即两个连续观测值之间的持续时间对时延的依赖性，本文结合了李亚普诺夫函数和辅助系统的方法。结果表明，在两个连续观测值之间的时间间隔足够小的情况下，基本系统几乎肯定具有指数稳定性。最后，本文给出了一个示例来说明所提控制策略的有效性。

引用次数: 0

Finite time stability condition for switched systems under restricted switching 受限开关下开关系统的有限时间稳定性条件

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-10-10 DOI: 10.1016/j.ejcon.2024.101125

Alpha M.M., Hari Kumar R., Lal Priya P.S.

Finite-time stability (FTS) has garnered considerable attention within the realm of control theory as a subject of active research. The objective of this paper is to explore the FTS of switched systems by employing a novel approach that relies on the concept of average dwell time (ADT). The ADT serves as a metric for quantifying the average duration a system remains in a specific mode prior to transitioning to a different mode. In this context, a condition that establishes the sufficiency of achieving FTS for a switched system has been derived in terms of the ADT and the corresponding Lyapunov function. Numerical simulations have been conducted to assess the efficacy of the proposed approach. Achieving a stable state within a specific time frame is crucial in many practical applications to meet desired performance requirements. The outcomes of this study have the potential to advance the development of more effective and reliable control systems across various engineering domains, including robotics, power systems, and transportation systems, which are often modeled as switched systems.

有限时间稳定性（FTS）作为一个活跃的研究课题，在控制理论领域引起了广泛关注。本文旨在采用一种依赖于平均停留时间（ADT）概念的新方法，探索开关系统的有限时间稳定性。ADT 是量化系统在过渡到不同模式前保持特定模式的平均持续时间的指标。在这种情况下，根据 ADT 和相应的 Lyapunov 函数推导出了一个条件，该条件确定了实现切换系统 FTS 的充分性。为了评估所提出方法的有效性，我们进行了数值模拟。在许多实际应用中，在特定时间框架内实现稳定状态对于满足所需的性能要求至关重要。本研究的成果有可能推动各种工程领域更有效、更可靠的控制系统的开发，包括机器人、电力系统和运输系统，这些系统通常被建模为开关系统。

引用次数: 0

A comprehensive control paradigm for prescribed performance attainment in complex nonlinear systems 实现复杂非线性系统规定性能的综合控制范例

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-10-09 DOI: 10.1016/j.ejcon.2024.101119

Gulam Dastagir Khan, Said Al-Abri, Hassan Yousef

This paper presents a comprehensive control framework tailored for achieving Prescribed Performance Control (PPC) in the context of complex nonlinear systems, addressing multifaceted challenges prevalent in control design. The focus is on a control scenario characterized by the simultaneous presence of nonlinearity, external disturbances, time delay, and unknown control direction—issues that pose considerable obstacles for existing solutions. To surmount these challenges, our proposed approach integrates well-established techniques, including neural networks, Nussbaum-type gains, and adaptive control strategies within a unified control design framework. The specific technical challenge addressed in this work involves the effective management of these intricate complexities in Single-Input Single-Output (SISO) systems. Our contributions extend the theoretical foundations, presenting an ideal PPC control design and introducing two adaptive neural network-based control methods capable of accommodating both known and unknown control directions. Utilizing Lyapunov–Krasovskii functionals, we showcase a unique integration that surpasses a mere combination of individual techniques. This work advances the theoretical underpinnings of control engineering tailored for real-world scenarios. The proposed controller’s efficacy is validated through rigorous simulations and compared with recent results and benchmark PPC controllers, establishing its superiority in addressing the intricacies of complex control scenarios.

本文介绍了一个综合控制框架，该框架专为在复杂非线性系统中实现规定性能控制（PPC）而定制，可解决控制设计中普遍存在的多方面挑战。重点在于同时存在非线性、外部干扰、时间延迟和未知控制方向的控制场景--这些问题对现有解决方案构成了相当大的障碍。为了克服这些挑战，我们提出的方法将神经网络、努斯鲍姆型增益和自适应控制策略等成熟技术整合到一个统一的控制设计框架中。这项工作要解决的具体技术难题涉及如何有效管理单输入单输出（SISO）系统中这些错综复杂的问题。我们的贡献在于扩展了理论基础，提出了理想的 PPC 控制设计，并引入了两种基于神经网络的自适应控制方法，能够同时适应已知和未知的控制方向。利用 Lyapunov-Krasovskii 函数，我们展示了一种独特的集成方法，它超越了单纯的单项技术组合。这项工作推进了为现实世界场景量身定制的控制工程的理论基础。我们通过严格的仿真验证了所提出的控制器的功效，并将其与最新成果和基准 PPC 控制器进行了比较，从而确立了它在解决复杂控制场景的错综复杂性方面的优越性。

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