European Journal of Control最新文献

英文中文

Safe platooning and merging control using constructive barrier feedback 利用建设性障碍物反馈进行安全排线和并线控制

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.2024.101060

Xiao Chen, Zhiqi Tang, Karl H. Johansson, Jonas Mårtensson

This paper proposes a novel formation control design for safe platooning and merging of a group of vehicles in multi-lane road scenarios. Provided a leader vehicle is independently controlled, the objective is controlling the follower vehicles to drive in the desired lane with a constant desired distance behind the neighboring (preceding) vehicle while preventing collisions with both the neighboring vehicle and the road’s edges. Inspired by the recent concept of constructive barrier feedback, the proposed controller for each follower vehicle is composed of two parts: one is the nominal controller that ensures its tracking of the neighboring vehicle; another is for collision avoidance by using divergent flow as a dissipative term, which slows down the relative velocity in the direction of the neighboring vehicle and road edges without compromising the nominal controller’s performance. The key contribution of this work is that the proposed control method ensures collision-free platooning and merging control in multi-lane road scenarios with computational efficiency and systematic stability analysis. Simulation results are provided to demonstrate the effectiveness of the proposed algorithms.

本文提出了一种新颖的编队控制设计，用于在多车道道路场景中对一组车辆进行安全排查和合并。在对领头车辆进行独立控制的前提下，目标是控制跟随车辆在所需车道上行驶，与相邻（前方）车辆保持一定距离，同时防止与相邻车辆和道路边缘发生碰撞。受最近提出的建设性障碍反馈概念的启发，为每辆跟车提出的控制器由两部分组成：一部分是标称控制器，确保其跟踪邻近车辆；另一部分是用于避免碰撞的发散流耗散项，在不影响标称控制器性能的情况下，减缓邻近车辆和道路边缘方向的相对速度。这项工作的主要贡献在于，所提出的控制方法通过计算效率和系统稳定性分析，确保了多车道道路场景下的无碰撞排线和并线控制。仿真结果证明了所提算法的有效性。

{"title":"Safe platooning and merging control using constructive barrier feedback","authors":"Xiao Chen, Zhiqi Tang, Karl H. Johansson, Jonas Mårtensson","doi":"10.1016/j.ejcon.2024.101060","DOIUrl":"10.1016/j.ejcon.2024.101060","url":null,"abstract":"<div><div>This paper proposes a novel formation control design for safe platooning and merging of a group of vehicles in multi-lane road scenarios. Provided a leader vehicle is independently controlled, the objective is controlling the follower vehicles to drive in the desired lane with a constant desired distance behind the neighboring (preceding) vehicle while preventing collisions with both the neighboring vehicle and the road’s edges. Inspired by the recent concept of constructive barrier feedback, the proposed controller for each follower vehicle is composed of two parts: one is the nominal controller that ensures its tracking of the neighboring vehicle; another is for collision avoidance by using divergent flow as a dissipative term, which slows down the relative velocity in the direction of the neighboring vehicle and road edges without compromising the nominal controller’s performance. The key contribution of this work is that the proposed control method ensures collision-free platooning and merging control in multi-lane road scenarios with computational efficiency and systematic stability analysis. Simulation results are provided to demonstrate the effectiveness of the proposed algorithms.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"80 ","pages":"Article 101060"},"PeriodicalIF":2.5,"publicationDate":"2024-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141717569","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}

引用次数: 0

Stability of regional traffic networks employing maximum throughput demand management 采用最大吞吐量需求管理的区域交通网络的稳定性

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.2024.101061

Michalis Ramp , Andreas Kasis , Charalambos Menelaou , Stelios Timotheou

This paper considers the stability and optimality properties of traffic demand management schemes, motivated by the integration of smart monitoring and control technologies in traffic networks. First, a suitable optimization problem is formulated that aims to obtain demand input values that maximize the throughput within traffic networks adhering to regional traffic dynamics with triangular macroscopic fundamental diagrams. We show that optimal solutions to this problem may lead to unstable behaviour, revealing a trade-off between stability and optimality. To address this issue, we analytically study the stability properties of traffic networks at the presence of constant demand input and provide suitable local conditions that guarantee stability when the system’s equilibrium densities are strictly within the free-flow region, but not at the critical density. The latter case is significant, since the maximum throughput behaviour coincides in many cases with the local critical density. We resolve this by proposing a decentralized proportional demand control scheme and suitable local design conditions such that stability is guaranteed. Our analytic results are validated with numerical simulations in a 3-region system that demonstrate the effectiveness and practicality of the proposed approach.

本文探讨了交通需求管理方案的稳定性和最优性，其动机是在交通网络中集成智能监控技术。首先，本文提出了一个合适的优化问题，旨在获得需求输入值，使交通网络中的吞吐量最大化，该网络遵循具有三角形宏观基本图的区域交通动态。我们发现，该问题的最优解可能会导致不稳定的行为，从而揭示了稳定性和最优性之间的权衡。为了解决这个问题，我们分析研究了存在恒定需求输入时交通网络的稳定性，并提供了合适的局部条件，以保证系统的均衡密度严格处于自由流动区域内时的稳定性，而不是处于临界密度时的稳定性。后一种情况非常重要，因为在许多情况下，最大吞吐量行为与局部临界密度相吻合。为了解决这个问题，我们提出了一种分散的比例需求控制方案和合适的局部设计条件，从而保证了稳定性。我们在一个 3 区域系统中进行了数值模拟，验证了我们的分析结果，证明了所提方法的有效性和实用性。

{"title":"Stability of regional traffic networks employing maximum throughput demand management","authors":"Michalis Ramp , Andreas Kasis , Charalambos Menelaou , Stelios Timotheou","doi":"10.1016/j.ejcon.2024.101061","DOIUrl":"10.1016/j.ejcon.2024.101061","url":null,"abstract":"<div><div>This paper considers the stability and optimality properties of traffic demand management schemes, motivated by the integration of smart monitoring and control technologies in traffic networks. First, a suitable optimization problem is formulated that aims to obtain demand input values that maximize the throughput within traffic networks adhering to regional traffic dynamics with triangular macroscopic fundamental diagrams. We show that optimal solutions to this problem may lead to unstable behaviour, revealing a trade-off between stability and optimality. To address this issue, we analytically study the stability properties of traffic networks at the presence of constant demand input and provide suitable local conditions that guarantee stability when the system’s equilibrium densities are strictly within the free-flow region, but not at the critical density. The latter case is significant, since the maximum throughput behaviour coincides in many cases with the local critical density. We resolve this by proposing a decentralized proportional demand control scheme and suitable local design conditions such that stability is guaranteed. Our analytic results are validated with numerical simulations in a 3-region system that demonstrate the effectiveness and practicality of the proposed approach.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"80 ","pages":"Article 101061"},"PeriodicalIF":2.5,"publicationDate":"2024-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141577018","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}

引用次数: 0

Combining learning and control in linear systems 线性系统中的学习与控制相结合

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.2024.101043

Andreas A. Malikopoulos

In this paper, we provide a theoretical framework that separates the control and learning tasks in a linear system. This separation allows us to combine offline model-based control with online learning approaches and thus circumvent current challenges in deriving optimal control strategies in applications where a large volume of data is added to the system gradually in real time and not altogether in advance. We provide an analytical example to illustrate the framework.

在本文中，我们提供了一个理论框架，将线性系统中的控制和学习任务分离开来。这种分离使我们能够将基于模型的离线控制与在线学习方法结合起来，从而规避当前在推导最优控制策略方面所面临的挑战，因为在这种应用中，大量数据是实时逐步添加到系统中的，而不是事先完全添加到系统中的。我们提供了一个分析示例来说明该框架。

引用次数: 0

Robust partial eigenvalue assignment of second order descriptor systems 二阶描述系统的稳健部分特征值赋值

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.2024.101129

Huiqing Xie, Chuandong Liu

Partial eigenvalue assignment problem (PEAP) of second order descriptor systems is investigated by using acceleration–velocity–displacement feedback. First, we derive parametric expressions of the solutions to the PEAP of a second order descriptor system, i.e., giving the expressions of acceleration, velocity and displacement feedback matrices such that the closed-loop system is regular and has the index at most 1, and some eigenvalues of the open-loop system are replaced by the desired ones, and the other eigenpairs of the open-loop system are kept unchanged. Then a numerical method is proposed for robust partial eigenvalue assignment of a second order descriptor system so that the closed-loop system is as robust as possible. Our method avoids to use the unchanged eigenpairs of the open-loop system and it is effective whether the closed-loop system has infinite eigenvalue or not. Numerical experiments are reported to test the efficiency of the proposed method.

通过使用加速度-速度-位移反馈，研究了二阶描述符系统的部分特征值赋值问题（PEAP）。首先，我们推导了二阶描述符系统 PEAP 解的参数表达式，即给出加速度、速度和位移反馈矩阵的表达式，使得闭环系统是正则的且指数最多为 1，开环系统的某些特征值被所需的特征值所替代，而开环系统的其他特征对保持不变。然后，我们提出了一种二阶描述系统鲁棒部分特征值赋值的数值方法，从而使闭环系统尽可能鲁棒。我们的方法避免了使用开环系统的不变特征对，而且无论闭环系统是否具有无限特征值，该方法都是有效的。报告中的数值实验检验了所提方法的效率。

引用次数: 0

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。

{"title":"Communication-aware formation control for networks of AUVs","authors":"Simon A. Hoff, Josef Matouš, Damiano Varagnolo, Kristin Y. Pettersen","doi":"10.1016/j.ejcon.2024.101062","DOIUrl":"10.1016/j.ejcon.2024.101062","url":null,"abstract":"<div><div>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 <span><math><mi>N</mi></math></span> 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.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"80 ","pages":"Article 101062"},"PeriodicalIF":2.5,"publicationDate":"2024-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141397907","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}

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。

{"title":"Minimizing the homogeneous L2-gain of homogeneous differentiators","authors":"Benjamin Calmbach , Jaime A. Moreno , Johann Reger","doi":"10.1016/j.ejcon.2024.101039","DOIUrl":"10.1016/j.ejcon.2024.101039","url":null,"abstract":"<div><div>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 <span><math><msub><mrow><mi>L</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span>-gain is utilized. Analog to the classical <span><math><msub><mrow><mi>L</mi></mrow><mrow><mi>p</mi></mrow></msub></math></span>-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 <span><math><msub><mrow><mi>L</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span> 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 <span><math><msub><mrow><mi>L</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span>-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.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"80 ","pages":"Article 101039"},"PeriodicalIF":2.5,"publicationDate":"2024-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141401232","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}

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。

{"title":"Adaptive asymptotic tracking control of constrained nonlinear MIMO systems subject to unknown hysteresis input: A novel network-based strategy","authors":"Wei Zhao , Yu-Qun Han , Shan-Liang Zhu","doi":"10.1016/j.ejcon.2024.101127","DOIUrl":"10.1016/j.ejcon.2024.101127","url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"80 ","pages":"Article 101127"},"PeriodicalIF":2.5,"publicationDate":"2024-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142535551","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}

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

首页上一页

下一页尾页

类型

全部化学•材料生命科学医学物理工程技术环境•农林材料科学地球科学法学管理学化学环境科学与生态学计算机科学教育学经济学农林科学人文科学生物学数学物理与天体物理心理学综合性期刊其他工业工程理学历史学农学文学信息工程

数据库

全部 ACS Publications Elsevier ieeexplore Springer The Royal Society of Chemistry Wiley

期刊

European Journal of Control

全部 Acc. Chem. Res. ACS Applied Bio Materials ACS Appl. Electron. Mater. ACS Appl. Energy Mater. ACS Appl. Mater. Interfaces ACS Appl. Nano Mater. ACS Appl. Polym. Mater. ACS BIOMATER-SCI ENG ACS Catal. ACS Cent. Sci. ACS Chem. Biol. ACS Chemical Health & Safety ACS Chem. Neurosci. ACS Comb. Sci. ACS Earth Space Chem. ACS Energy Lett. ACS Infect. Dis. ACS Macro Lett. ACS Mater. Lett. ACS Med. Chem. Lett. ACS Nano ACS Omega ACS Photonics ACS Sens. ACS Sustainable Chem. Eng. ACS Synth. Biol. Anal. Chem. BIOCHEMISTRY-US Bioconjugate Chem. BIOMACROMOLECULES Chem. Res. Toxicol. Chem. Rev. Chem. Mater. CRYST GROWTH DES ENERG FUEL Environ. Sci. Technol. Environ. Sci. Technol. Lett. Eur. J. Inorg. Chem. IND ENG CHEM RES Inorg. Chem. J. Agric. Food. Chem. J. Chem. Eng. Data J. Chem. Educ. J. Chem. Inf. Model. J. Chem. Theory Comput. J. Med. Chem. J. Nat. Prod. J PROTEOME RES J. Am. Chem. Soc. LANGMUIR MACROMOLECULES Mol. Pharmaceutics Nano Lett. Org. Lett. ORG PROCESS RES DEV ORGANOMETALLICS J. Org. Chem. J. Phys. Chem. J. Phys. Chem. A J. Phys. Chem. B J. Phys. Chem. C J. Phys. Chem. Lett. Analyst Anal. Methods Biomater. Sci. Catal. Sci. Technol. Chem. Commun. Chem. Soc. Rev. CHEM EDUC RES PRACT CRYSTENGCOMM Dalton Trans. Energy Environ. Sci. ENVIRON SCI-NANO ENVIRON SCI-PROC IMP ENVIRON SCI-WAT RES Faraday Discuss. Food Funct. Green Chem. Inorg. Chem. Front. Integr. Biol. J. Anal. At. Spectrom. J. Mater. Chem. A J. Mater. Chem. B J. Mater. Chem. C Lab Chip Mater. Chem. Front. Mater. Horiz. MEDCHEMCOMM Metallomics Mol. Biosyst. Mol. Syst. Des. Eng. Nanoscale Nanoscale Horiz. Nat. Prod. Rep. New J. Chem. Org. Biomol. Chem. Org. Chem. Front. PHOTOCH PHOTOBIO SCI PCCP Polym. Chem.

﹀