Pub Date : 2025-01-01DOI: 10.1016/j.ejcon.2024.101162
Bichitra Kumar Lenka, Ranjit Kumar Upadhyay
In many application points of interest, controlling the responses of real-world applications that vary with time seems quite challenging and puzzling. A linear time-varying state feedback controller is widely known and can be useful to estimate bounds to the state control matrix in the design of many control systems. The issue of initialization of real-order control system enhancement remains a challenging issue in the systems analysis subject to random initial-time placed on a real number line. We address a new design of a class of real-order control systems that consists of separated linear and nonlinear terms affected by input functions to be controlled with an implemented time-varying linear state feedback controller. We utilize the fractional comparison method and under Lipschitz nonlinearity with a constant bounding matrix of time-varying coefficients of control systems to address new order-dependent conditions that provide local and global stabilization to controlled systems. Applications of results that include practical real-order single-machine-infinite-bus power systems have been illustrated to control the responses by the utility of theoretical conditions examined along with validation of numerical simulations. It is shown that the proposed controller is practically convenient and demonstrates the efficiency of measuring the performances of control systems.
{"title":"New order-dependent conditions to control a class of nonlinear real-order systems","authors":"Bichitra Kumar Lenka, Ranjit Kumar Upadhyay","doi":"10.1016/j.ejcon.2024.101162","DOIUrl":"10.1016/j.ejcon.2024.101162","url":null,"abstract":"<div><div>In many application points of interest, controlling the responses of real-world applications that vary with time seems quite challenging and puzzling. A linear time-varying state feedback controller is widely known and can be useful to estimate bounds to the state control matrix in the design of many control systems. The issue of initialization of real-order control system enhancement remains a challenging issue in the systems analysis subject to random initial-time placed on a real number line. We address a new design of a class of real-order control systems that consists of separated linear and nonlinear terms affected by input functions to be controlled with an implemented time-varying linear state feedback controller. We utilize the fractional comparison method and under Lipschitz nonlinearity with a constant bounding matrix of time-varying coefficients of control systems to address new order-dependent conditions that provide local and global stabilization to controlled systems. Applications of results that include practical real-order single-machine-infinite-bus power systems have been illustrated to control the responses by the utility of theoretical conditions examined along with validation of numerical simulations. It is shown that the proposed controller is practically convenient and demonstrates the efficiency of measuring the performances of control systems.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"81 ","pages":"Article 101162"},"PeriodicalIF":2.5,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143101688","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 : 2025-01-01DOI: 10.1016/j.ejcon.2024.101161
Daniel Silvestre
There has been a vast body of research on set-membership techniques in recent years. These algorithms compute convex sets that contain the state of a dynamical system given bounds on disturbance and noise signals. Recently, a thorough comparison of zonotopes-based methods against interval arithmetic and ellipsoids has been presented in the literature. However, two main issues were left unexplored: (i) added conservatism in the presence of bounds of different kinds such as -norm for the disturbance and an -norm bound on the noise: (ii) set-membership methods can be used in different settings apart from guaranteed state estimation, such as fault detection and isolation and collision avoidance of autonomous vehicles. In this paper, we extend this comparison by considering state estimation, fault detection and isolation, and collision avoidance for interval arithmetic, ellipsoids, zonotopes, constrained zonotopes, polytopes and constrained convex generators in the presence of various combination of bounds for the exogenous signals. The main objective is to compare accuracy, computation time and the scalability of the growth of the data structures required by each set representation. The results indicate that intervals, ellipsoids and zonotopes have a much worse accuracy. The recently introduced Constrained Convex Generators have a negligible increase in computation time in comparison with constrained zonotopes but have a better accuracy when bounds for disturbances, noise and initial conditions are heterogeneous or at least not polytopic.
{"title":"Comparison of recent advances in set-membership techniques: Application to state estimation, fault detection and collision avoidance","authors":"Daniel Silvestre","doi":"10.1016/j.ejcon.2024.101161","DOIUrl":"10.1016/j.ejcon.2024.101161","url":null,"abstract":"<div><div>There has been a vast body of research on set-membership techniques in recent years. These algorithms compute convex sets that contain the state of a dynamical system given bounds on disturbance and noise signals. Recently, a thorough comparison of zonotopes-based methods against interval arithmetic and ellipsoids has been presented in the literature. However, two main issues were left unexplored: (i) added conservatism in the presence of bounds of different kinds such as <span><math><msub><mrow><mi>ℓ</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span>-norm for the disturbance and an <span><math><msub><mrow><mi>ℓ</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span>-norm bound on the noise: (ii) set-membership methods can be used in different settings apart from guaranteed state estimation, such as fault detection and isolation and collision avoidance of autonomous vehicles. In this paper, we extend this comparison by considering state estimation, fault detection and isolation, and collision avoidance for interval arithmetic, ellipsoids, zonotopes, constrained zonotopes, polytopes and constrained convex generators in the presence of various combination of bounds for the exogenous signals. The main objective is to compare accuracy, computation time and the scalability of the growth of the data structures required by each set representation. The results indicate that intervals, ellipsoids and zonotopes have a much worse accuracy. The recently introduced Constrained Convex Generators have a negligible increase in computation time in comparison with constrained zonotopes but have a better accuracy when bounds for disturbances, noise and initial conditions are heterogeneous or at least not polytopic.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"81 ","pages":"Article 101161"},"PeriodicalIF":2.5,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143101677","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This research introduces a unified parametric output function based control law for autonomous navigation of nonholonomic Wheeled Mobile Robots (WMRs) through various predefined paths, such as straight line, circular, elliptical, square, rectangular, and their combinations, achieved by adjusting parameters. This approach simplifies path-following control paradigm by eliminating the need for generating separate output functions and relevant independent decoupling matrices for each path. Uncertainties of WMR are considered and embedded within the control framework. Analytical proof is provided to ensure the existence of the control law, which is proposed for the new framework using the unified parametric function that represents various paths, for all time. Further, a fuzzy rule-base driven gain parameter scheduling framework is adopted for efficient real-life implementation of the controller, avoiding actuator saturation. After successfully achieving the desired performance maneuver in a simulated environment, experiments are conducted for validation. A Pioneer P3-DX WMR is utilized to implement the control law towards maneuvering through aforementioned paths generated by the unified function, which is relevant in robotic applications. The WMR demonstrates the ability to navigate effectively with higher accuracy along the aforementioned paths at varying velocities, including zero velocity. The zero velocity feature helps to accomplish the required functionality, such as picking up an object, at an intermediate step, thus surpassing traditional trajectory tracking methods. Eventually, the unified function based path following control framework outperforms several existing controllers, especially for paths that are subjected to substantially large curvature at some portions, as illustrated through experimental performances and subsequent quantification.
{"title":"Parametric function based fuzzy tuned path-following controller for nonholonomic mobile robotic systems: Experimental performance and analysis","authors":"Suman Mondal , Ranjit Ray , Soumya Subhra Chakraborty , Siva Ram Krishna Vadali , Srinivasan Aruchamy , Sambhunath Nandy","doi":"10.1016/j.ejcon.2024.101169","DOIUrl":"10.1016/j.ejcon.2024.101169","url":null,"abstract":"<div><div>This research introduces a unified parametric output function based control law for autonomous navigation of nonholonomic Wheeled Mobile Robots (WMRs) through various predefined paths, such as straight line, circular, elliptical, square, rectangular, and their combinations, achieved by adjusting parameters. This approach simplifies path-following control paradigm by eliminating the need for generating separate output functions and relevant independent decoupling matrices for each path. Uncertainties of WMR are considered and embedded within the control framework. Analytical proof is provided to ensure the existence of the control law, which is proposed for the new framework using the unified parametric function that represents various paths, for all time. Further, a fuzzy rule-base driven gain parameter scheduling framework is adopted for efficient real-life implementation of the controller, avoiding actuator saturation. After successfully achieving the desired performance maneuver in a simulated environment, experiments are conducted for validation. A Pioneer P3-DX WMR is utilized to implement the control law towards maneuvering through aforementioned paths generated by the unified function, which is relevant in robotic applications. The WMR demonstrates the ability to navigate effectively with higher accuracy along the aforementioned paths at varying velocities, including zero velocity. The zero velocity feature helps to accomplish the required functionality, such as picking up an object, at an intermediate step, thus surpassing traditional trajectory tracking methods. Eventually, the unified function based path following control framework outperforms several existing controllers, especially for paths that are subjected to substantially large curvature at some portions, as illustrated through experimental performances and subsequent quantification.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"81 ","pages":"Article 101169"},"PeriodicalIF":2.5,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143101692","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 : 2025-01-01DOI: 10.1016/j.ejcon.2024.101160
Thanh Long Nguyen , Xuan Sinh Mai , Phuong Nam Dao
This article studies the formation and trajectory tracking control of multiple mobile robots with kinematic sub-systems. We proposed an effective design of robust distributed model predictive control (MPC) strategy for Leader–Follower formation control scheme in a group of multiple perturbed Wheeled Mobile Robotics (WMRs) with the consideration of tracking performance in not only the position but also the orientation, as well as the distance between the center and head in each WMR. Furthermore, the relation between formation control objective and non-holonomic property in each agent is also discussed. For the purpose of achieving the desired formation, according to trajectory of leader WMR, the barycentric of the formation requirement is known as corresponding virtual followers, and a distributed tube-MPC scheme is applied to each follower WMR for tracking a reference trajectory with not only the position but also its orientation. In addition, the stability and the performance tracking of multiple perturbed WMRs are investigated by employing Lyapunov stability theory with the indirect comparison method to be implemented by pointing out precisely the proposed terminal controller and the equivalent terminal region. Comprehensive simulation results in several scenarios demonstrate the validity of the proposed control scheme.
{"title":"A robust distributed model predictive control strategy for Leader–Follower formation control of multiple perturbed wheeled mobile robotics","authors":"Thanh Long Nguyen , Xuan Sinh Mai , Phuong Nam Dao","doi":"10.1016/j.ejcon.2024.101160","DOIUrl":"10.1016/j.ejcon.2024.101160","url":null,"abstract":"<div><div>This article studies the formation and trajectory tracking control of multiple mobile robots with kinematic sub-systems. We proposed an effective design of robust distributed model predictive control (MPC) strategy for Leader–Follower formation control scheme in a group of multiple perturbed Wheeled Mobile Robotics (WMRs) with the consideration of tracking performance in not only the position but also the orientation, as well as the distance between the center and head in each WMR. Furthermore, the relation between formation control objective and non-holonomic property in each agent is also discussed. For the purpose of achieving the desired formation, according to trajectory of leader WMR, the barycentric of the formation requirement is known as corresponding virtual followers, and a distributed tube-MPC scheme is applied to each follower WMR for tracking a reference trajectory with not only the position but also its orientation. In addition, the stability and the performance tracking of multiple perturbed WMRs are investigated by employing Lyapunov stability theory with the indirect comparison method to be implemented by pointing out precisely the proposed terminal controller and the equivalent terminal region. Comprehensive simulation results in several scenarios demonstrate the validity of the proposed control scheme.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"81 ","pages":"Article 101160"},"PeriodicalIF":2.5,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143102189","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 : 2025-01-01DOI: 10.1016/j.ejcon.2024.101166
Qingqing Dang , Wenbo Li , Haichao Gui
This paper introduces an explicit reference governor-based control scheme to address the gyro-free spacecraft attitude reorientation problem, considering specific constraints such as pointing, angular velocity, and input saturation. The proposed control scheme operates in two layers, ensuring the asymptotic stability of the attitude while adhering to the aforementioned constraints. The inner layer employs output feedback control utilizing an angular velocity observer based on immersion and invariance technology. Through an analysis of the geometry associated with the pointing constraint, determination of the upper bound of angular velocity, and optimization of the control input solution, the reference layer establishes a safety boundary described by the invariant set. Additionally, we introduce the dynamic factor related to the angular velocity estimation error into the invariant set to prevent states from exceeding the constraint set due to unmeasurable angular velocity information. The shortest guidance path is then designed in the reference layer. Finally, we substantiate the efficacy of the proposed constrained attitude control algorithm through numerical simulations.
{"title":"Gyro-free attitude reorientation control of spacecraft with state and input constraints","authors":"Qingqing Dang , Wenbo Li , Haichao Gui","doi":"10.1016/j.ejcon.2024.101166","DOIUrl":"10.1016/j.ejcon.2024.101166","url":null,"abstract":"<div><div>This paper introduces an explicit reference governor-based control scheme to address the gyro-free spacecraft attitude reorientation problem, considering specific constraints such as pointing, angular velocity, and input saturation. The proposed control scheme operates in two layers, ensuring the asymptotic stability of the attitude while adhering to the aforementioned constraints. The inner layer employs output feedback control utilizing an angular velocity observer based on immersion and invariance technology. Through an analysis of the geometry associated with the pointing constraint, determination of the upper bound of angular velocity, and optimization of the control input solution, the reference layer establishes a safety boundary described by the invariant set. Additionally, we introduce the dynamic factor related to the angular velocity estimation error into the invariant set to prevent states from exceeding the constraint set due to unmeasurable angular velocity information. The shortest guidance path is then designed in the reference layer. Finally, we substantiate the efficacy of the proposed constrained attitude control algorithm through numerical simulations.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"81 ","pages":"Article 101166"},"PeriodicalIF":2.5,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143102191","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 : 2025-01-01DOI: 10.1016/j.ejcon.2024.101165
Jing Liu, Qifeng Ren
This paper investigates the fixed-time stability of dynamical systems and its application on the fixed-time synchronization (FTSYN) of the coupled neural networks (NNs). Firstly, a new theorem on fixed-time stability is established, along with an estimation of the settling time. Based on the new theorem and Lyapunov direct method, two different sufficient criteria are derived to ensure that the NNs in presence of Hölder continuity can achieve synchronization within fixed-time based on 1-norm and 2-norm, separately. Finally, two numerical simulations are conducted to demonstrate the validity and accuracy of the main findings.
{"title":"Fixed-time synchronization of coupled neural networks under Hölder continuous nonlinear activation function","authors":"Jing Liu, Qifeng Ren","doi":"10.1016/j.ejcon.2024.101165","DOIUrl":"10.1016/j.ejcon.2024.101165","url":null,"abstract":"<div><div>This paper investigates the fixed-time stability of dynamical systems and its application on the fixed-time synchronization (FTSYN) of the coupled neural networks (NNs). Firstly, a new theorem on fixed-time stability is established, along with an estimation of the settling time. Based on the new theorem and Lyapunov direct method, two different sufficient criteria are derived to ensure that the NNs in presence of Hölder continuity can achieve synchronization within fixed-time based on 1-norm and 2-norm, separately. Finally, two numerical simulations are conducted to demonstrate the validity and accuracy of the main findings.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"81 ","pages":"Article 101165"},"PeriodicalIF":2.5,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143102192","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Achieving autonomy in mobile robotics necessitates fundamental capabilities such as trajectory tracking, self-localization, and environmental perception. GPS is the conventional choice for establishing the position of a mobile robot in outdoor and open settings; however, it lacks reliability in diverse environments, such as cluttered indoor spaces. In this paper, we propose a nonlinear kinematic control scheme for trajectory tracking, alongside a Monocular Visual SLAM (Simultaneous Localization and Mapping) method for nonholonomic wheeled mobile robots operating in GPS-denied environments. The proposed SLAM system incorporates heading and range measurements. We conduct a nonlinear observability analysis to demonstrate that the system’s observability is enhanced by integrating these measurements. The kinematic controller is formulated using the Lyapunov direct method, and the stability of the control law is verified through Lyapunov theory. Extensive computer simulations demonstrate that the proposed systems achieve good performance.
{"title":"Control and monocular visual SLAM of nonholonomic mobile robots","authors":"Juan-Carlos Trujillo , Rodrigo Munguia , Juan-Carlos Albarrán , Marco Arteaga","doi":"10.1016/j.ejcon.2024.101171","DOIUrl":"10.1016/j.ejcon.2024.101171","url":null,"abstract":"<div><div>Achieving autonomy in mobile robotics necessitates fundamental capabilities such as trajectory tracking, self-localization, and environmental perception. GPS is the conventional choice for establishing the position of a mobile robot in outdoor and open settings; however, it lacks reliability in diverse environments, such as cluttered indoor spaces. In this paper, we propose a nonlinear kinematic control scheme for trajectory tracking, alongside a Monocular Visual SLAM (Simultaneous Localization and Mapping) method for nonholonomic wheeled mobile robots operating in GPS-denied environments. The proposed SLAM system incorporates heading and range measurements. We conduct a nonlinear observability analysis to demonstrate that the system’s observability is enhanced by integrating these measurements. The kinematic controller is formulated using the Lyapunov direct method, and the stability of the control law is verified through Lyapunov theory. Extensive computer simulations demonstrate that the proposed systems achieve good performance.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101171"},"PeriodicalIF":2.5,"publicationDate":"2024-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143183313","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 introduces a robust interval observer to address the problem of state and unknown input estimation for linear continuous-time systems subject to unknown but bounded disturbances and measurement noise. Firstly, a decoupling method is presented to reduce the unknown input effect on the state dynamics. This transforms the estimation problem into the design of an observer for a singular model representation. Secondly, we propose a continuous-time TNL approach that incorporates weighting matrices including the traditional gain of the observer for this singular system. A novel stability analysis for the error system utilizing the norm is used. Through a numerical example of a fifth-order lateral axis model of a fixed-wing aircraft system, the efficiency of the proposed design approach is illustrated.
{"title":"Robust interval estimation of state and unknown inputs for linear continuous-time systems: An L1gain characterization","authors":"Dang Khai Nguyen , Thach Ngoc Dinh , Zhenhua Wang , Tarek Raïssi","doi":"10.1016/j.ejcon.2024.101172","DOIUrl":"10.1016/j.ejcon.2024.101172","url":null,"abstract":"<div><div>This paper introduces a robust interval observer to address the problem of state and unknown input estimation for linear continuous-time systems subject to unknown but bounded disturbances and measurement noise. Firstly, a decoupling method is presented to reduce the unknown input effect on the state dynamics. This transforms the estimation problem into the design of an observer for a singular model representation. Secondly, we propose a continuous-time TNL approach that incorporates weighting matrices including the traditional gain of the observer for this singular system. A novel stability analysis for the error system utilizing the <span><math><msub><mrow><mi>L</mi></mrow><mrow><mn>1</mn></mrow></msub></math></span> norm is used. Through a numerical example of a fifth-order lateral axis model of a fixed-wing aircraft system, the efficiency of the proposed design approach is illustrated.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101172"},"PeriodicalIF":2.5,"publicationDate":"2024-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143183312","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 : 2024-11-26DOI: 10.1016/j.ejcon.2024.101149
Hue Luu Thi , Van Chung Nguyen , Tung Lam Nguyen
This paper introduces a new method to control a 5-DOF tower crane (3DTC). By considering the 3DTC as a flat system, a time-optimal trajectory is proposed for the payload. System states and control signal references can be calculated based on the flatness theory. In addition, the 3DTC works in an environment containing many factors impacting control performance and the system states are hard to measure. An adaptive finite-time extended state observer (AFT-ESO) is introduced to solve these problems. With AFT-ESO, system states and lumped disturbances can be estimated accurately, facilitating the prediction for Lyapunov-based model predictive control (LMPC) when an accurate model is required. The LMPC takes advance of the second-order sliding mode control stability conditions as a strict constraint to guarantee the global stabilization of the closed-loop system. Finally, simulations based on the quasi-physical model are proposed to show the effectiveness and robustness of the proposed strategy.
{"title":"Adaptive finite-time extended state observer-based model predictive control with Flatness motivated trajectory planning for 5-DOF tower cranes","authors":"Hue Luu Thi , Van Chung Nguyen , Tung Lam Nguyen","doi":"10.1016/j.ejcon.2024.101149","DOIUrl":"10.1016/j.ejcon.2024.101149","url":null,"abstract":"<div><div>This paper introduces a new method to control a 5-DOF tower crane (3DTC). By considering the 3DTC as a flat system, a time-optimal trajectory is proposed for the payload. System states and control signal references can be calculated based on the flatness theory. In addition, the 3DTC works in an environment containing many factors impacting control performance and the system states are hard to measure. An adaptive finite-time extended state observer (AFT-ESO) is introduced to solve these problems. With AFT-ESO, system states and lumped disturbances can be estimated accurately, facilitating the prediction for Lyapunov-based model predictive control (LMPC) when an accurate model is required. The LMPC takes advance of the second-order sliding mode control stability conditions as a strict constraint to guarantee the global stabilization of the closed-loop system. Finally, simulations based on the quasi-physical model are proposed to show the effectiveness and robustness of the proposed strategy.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"81 ","pages":"Article 101149"},"PeriodicalIF":2.5,"publicationDate":"2024-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142746072","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 : 2024-11-24DOI: 10.1016/j.ejcon.2024.101147
Owais Khan , Ghulam Mustafa , Nouman Ashraf , Muntazir Hussain , Abdul Qayyum Khan , Muhammad Asim Shoaib
Controlling flexible joint robots has drawn the attention of many industry professionals during the past two decades. It is a difficult task because various structural features that make the control of rigid robots easier, such as passivity of the motor torque to link velocity, full actuation, and separate control of each joint, are lost when we consider joint flexibility in the control design of these robots. However, we must consider joint flexibility while designing the controller; otherwise, the system may become unstable. In this article, we devise a robust model predictive controller scheme for flexible joint robots modeled as sampled-data Lipschitz nonlinear systems with unknown bounded disturbances. It is assumed that the state of the system is accessible for feedback. Therefore, a state-feedback control law is designed using a robust stability criterion and can be computed by solving an online optimization problem. The control law optimizes the performance index by reducing its worst-case value. The proposed control design scheme is applied to the one-link flexible joint robot. Simulation results validate the effectiveness of the controller in handling nonlinearities while minimizing the effect of unknown bounded disturbances.
{"title":"Robust model predictive control of sampled-data Lipschitz nonlinear systems: Application to flexible joint robots","authors":"Owais Khan , Ghulam Mustafa , Nouman Ashraf , Muntazir Hussain , Abdul Qayyum Khan , Muhammad Asim Shoaib","doi":"10.1016/j.ejcon.2024.101147","DOIUrl":"10.1016/j.ejcon.2024.101147","url":null,"abstract":"<div><div>Controlling flexible joint robots has drawn the attention of many industry professionals during the past two decades. It is a difficult task because various structural features that make the control of rigid robots easier, such as passivity of the motor torque to link velocity, full actuation, and separate control of each joint, are lost when we consider joint flexibility in the control design of these robots. However, we must consider joint flexibility while designing the controller; otherwise, the system may become unstable. In this article, we devise a robust model predictive controller scheme for flexible joint robots modeled as sampled-data Lipschitz nonlinear systems with unknown bounded disturbances. It is assumed that the state of the system is accessible for feedback. Therefore, a state-feedback control law is designed using a robust stability criterion and can be computed by solving an online optimization problem. The control law optimizes the performance index by reducing its worst-case value. The proposed control design scheme is applied to the one-link flexible joint robot. Simulation results validate the effectiveness of the controller in handling nonlinearities while minimizing the effect of unknown bounded disturbances.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"81 ","pages":"Article 101147"},"PeriodicalIF":2.5,"publicationDate":"2024-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142719689","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
扫码关注我们
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号