Asian Journal of Control最新文献

英文中文

A novel saturation degree‐dependent adaptive event‐triggered control for systems with asymmetric saturation 针对非对称饱和系统的新型饱和度自适应事件触发控制装置

IF 2.4 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Asian Journal of Control

Pub Date : 2024-07-03 DOI: 10.1002/asjc.3462

Hongchao Li, Qiancheng Jiang, Jiao Liu

This paper investigates the control problem of systems with asymmetric saturation by the formulated saturation degree‐dependent event‐triggered mechanism. The subregion partition method is adopted to represent the asymmetric saturation as the symmetric saturation in each subregion. In order to further reduce the triggering number when the system is saturated and save the communication resources of the system, this paper establishes the saturation degree‐dependent adaptive event‐triggered condition. Then, the subregion‐related control law under the presented event‐triggered scheme is designed, and the asymptotic stabilization of the underlying system is realized. Moreover, an optimization algorithm is proposed to estimate the maximal domain of attraction. Finally, simulation examples are used to validate the theoretical results.

本文通过制定的饱和度依赖事件触发机制来研究非对称饱和系统的控制问题。采用子区域划分法将非对称饱和表示为各子区域的对称饱和。为了进一步减少系统饱和时的触发次数，节省系统的通信资源，本文建立了与饱和度相关的自适应事件触发条件。然后，在提出的事件触发方案下设计了与子区域相关的控制律，并实现了底层系统的渐近稳定。此外，还提出了一种估算最大吸引域的优化算法。最后，通过仿真实例验证了理论结果。

引用次数: 0

Robust stability and H∞$$ {H}_{infty } $$ performance evaluation for time‐varying‐delayed uncertain linear systems based on variable‐augmented‐based free‐weighting matrices 基于变增量自由加权矩阵的时变延迟不确定线性系统的鲁棒稳定性和 H∞$$ {H}_{infty }基于可变增量自由加权矩阵的时变延迟不确定线性系统的 $$ 性能评估

IF 2.4 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Asian Journal of Control

Pub Date : 2024-07-03 DOI: 10.1002/asjc.3459

Dong‐Shuai Chen, Xing‐Chen Shangguan, Yong He

The problem of the robust stability and performance evaluation of time‐varying‐delayed uncertain linear systems (TVDULSs) is studied in this article. At first, to obtain a modified robust delay‐dependent condition of TVDULSs, a novel augmented Lyapunov‐Krasovskii functional (LKF) is established, and a variable‐augmented‐based free‐weighting matrices (VAFWMs) technique is tailored to evaluate the functional derivative. Compared with the existing robust stability methods, the constructed functional takes fully time delay information of the system into consideration and provides more delay‐cross terms, where the corresponding matrices are used to relax the constraints of linear matrix inequalities in the stability condition. Also, the VAFWMs method fully considers the linear relation of some delayed integral terms in the functional derivative, which avoids the usage of a quadratic order or higher order terms of the time delay. Then, an improved performance analysis criterion of TVDULSs is obtained against the disturbance on the basis of the proposed robust stability condition. The admissible maximal delay upper bounds that the uncertain linear system can tolerate are provided by proposed criterion under a given performance level. At last, two numerical examples are presented to verify the effectiveness and the superiority of the methods obtained.

本文研究了时变延迟不确定线性系统（TVDULS）的鲁棒性稳定性和性能评估问题。首先，为了获得 TVDULS 的改进鲁棒延迟依赖条件，建立了新的增强 Lyapunov-Krasovskii 函数（LKF），并定制了基于变量增强的自由加权矩阵（VAFWMs）技术来评估函数导数。与现有的鲁棒稳定性方法相比，所构建的函数充分考虑了系统的时间延迟信息，并提供了更多的延迟交叉项，其中相应的矩阵用于放松稳定性条件中的线性矩阵不等式约束。同时，VAFWMs 方法充分考虑了函数导数中一些延迟积分项的线性关系，避免了使用二次阶或更高阶的时间延迟项。然后，在所提出的鲁棒稳定性条件的基础上，得到了 TVDULSs 抗干扰的改进性能分析准则。在给定的性能水平下，所提出的准则提供了不确定线性系统可容忍的最大延迟上限。最后，通过两个数值实例验证了所获方法的有效性和优越性。

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引用次数: 0

Event-triggered dynamic output feedback control for switched linear neutral systems under time-varying delays and frequent asynchronism 时变延迟和频繁异步条件下开关线性中性系统的事件触发动态输出反馈控制

IF 2.4 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Asian Journal of Control

Pub Date : 2024-07-03 DOI: 10.1002/asjc.3461

Rongrong Yan, Baowei Wu, Yue-E Wang, Lili Liu, Wenzi Li, Liqiong Huang

The study focuses on the event-triggered dynamic output feedback control for a type of switched linear neutral systems under time-varying delays and frequent asynchronism. Distinct from the existing literatures about asynchronous switching, which restricts the minimum dwell time, frequent switching is allowed to occur within each inter-event interval by reason of average dwell time method. Then, concentrated on switched neutral time-delay system, a novel sufficient condition is established under which proposed event-triggered control scheme guarantees its the global uniform exponential stability by using the controller-mode-dependent Lyapunov functional together with dynamic output feedback controller. Subsequently, the sufficient criteria are deduced for co-designing the dynamic output feedback controller and mode-dependent event-triggered mechanism. Additionally, it is proved that a positive minimum threshold on the inter-event intervals exists, which eliminates Zeno phenomenon. In the end, a numerical simulation indicates the efficacy of the acquired results.

研究的重点是时变延迟和频繁异步条件下的一种切换线性中性系统的事件触发动态输出反馈控制。与现有文献中限制最小停留时间的异步切换不同，本研究采用平均停留时间法，允许在每个事件间歇内发生频繁切换。然后，针对开关中性时延系统，建立了一个新的充分条件，在此条件下，通过使用与控制器模式相关的 Lyapunov 函数和动态输出反馈控制器，所提出的事件触发控制方案可保证其全局均匀指数稳定性。随后，推导出了共同设计动态输出反馈控制器和依赖模式的事件触发机制的充分条件。此外，还证明了事件间间隔存在一个正的最小阈值，从而消除了芝诺现象。最后，数值模拟表明了所获结果的有效性。

引用次数: 0

Dynamic‐memory event‐based asynchronous security control for positive singular semi‐Markov jumping CPSs against multiple cyber‐attacks 针对多重网络攻击的正奇异半马尔科夫跃迁 CPS 的基于动态记忆事件的异步安全控制

IF 2.4 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Asian Journal of Control

Pub Date : 2024-07-03 DOI: 10.1002/asjc.3460

Zhipeng Li, Yanqian Wang, Guangming Zhuang, Zhibo Yang

This paper mainly studies the design of asynchronous controllers for positive singular semi‐Markov jump systems with performance under the dynamic‐memory event‐triggered. The positive singular semi‐Markov jump system model is established for the first time. And the dynamic‐memory event‐triggered transmission protocol is used to reduce network transmission pressure. Then, a unified cyber‐attack framework that includes DoS attacks and spoofing attacks is established. A simple hidden Markovian model (HMM) model is used to describe the asynchronous phenomena between the controller and the system. Considering the situation where all data cannot be accurately obtained in reality, a simple HMM is set as a partially unknown conditional probability matrix. Based on stochastic Lyapunov functional, the stochastically admissible conditions for the closed‐loop systems are obtained. Finally, a numerical example is given to verify the effectiveness of the proposed method.

本文主要研究正奇异半马尔可夫跳跃系统在动态记忆事件触发下性能的异步控制器设计。首次建立了正奇异半马尔可夫跳跃系统模型。并利用动态记忆事件触发传输协议来减轻网络传输压力。然后，建立了包括 DoS 攻击和欺骗攻击在内的统一网络攻击框架。使用简单的隐马尔可夫模型（HMM）来描述控制器与系统之间的异步现象。考虑到现实中无法准确获取所有数据的情况，简单的 HMM 被设定为部分未知的条件概率矩阵。基于随机 Lyapunov 函数，得到了闭环系统的随机可容许条件。最后，给出了一个数值示例来验证所提方法的有效性。

引用次数: 0

Control design of quadrotor aircraft based on improved integral backstepping sliding mode 基于改进型积分反步进滑动模式的四旋翼飞行器控制设计

IF 2.4 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Asian Journal of Control

Pub Date : 2024-07-03 DOI: 10.1002/asjc.3444

Zhang Jinlong, Wang Jianhong, Wen Ruchun, Ding Yongjun, Luo Xi

An improved integral backstepping sliding mode control (IIBSMC) strategy is proposed to address the problems of long regulation time and poor disturbance resistance of integral backstepping control (IBC) for quadrotor aircraft. The IIBSMC method first introduces the integral term into the virtual variable on the basis of IBC, which makes the system respond faster, overshoot smaller and anti-interference performance stronger. After that, combined with sliding mode control, the system is further processed to improve the control performance of the system. Finally, the quadrotor is controlled to achieve fixed-point hovering and trajectory tracking, and the rotation and translation performance of the aircraft and the stability under external interference are improved. When the quadrotor aircraft is subjected to instantaneous interference, constant interference, sinusoidal interference, white noise interference, and complex interference, the simulation experiments of IBC, improved integral backstepping control (IIBC), integral backstepping sliding mode control (IBSMC), and IIBSMC are compared. It can be obviously found that the IIBSMC method has smaller system overshoot, faster recovery of the original equilibrium position, shorter adjustment time, and smaller error. When using the IIBSMC method to design the controller, the stability of the controller is theoretically proved by backstepping recursion. Finally, the simulation results show that the designed controller can better achieve fixed-point hovering and trajectory tracking control well.

针对四旋翼飞行器积分反步滑模控制（IBC）调节时间长、抗干扰能力差等问题，提出了一种改进的积分反步滑模控制（IIBSMC）策略。IIBSMC 方法首先在 IBC 的基础上将积分项引入虚拟变量，使系统响应速度更快、过冲更小、抗干扰性能更强。之后，结合滑模控制，对系统进行进一步处理，以提高系统的控制性能。最后，控制四旋翼飞行器实现定点悬停和轨迹跟踪，提高飞行器的旋转和平移性能以及在外部干扰下的稳定性。当四旋翼飞行器受到瞬时干扰、恒定干扰、正弦干扰、白噪声干扰和复合干扰时，比较了 IBC、改进积分反步态控制（IIBC）、积分反步态滑模控制（IBSMC）和 IIBSMC 的仿真实验。可以明显发现，IIBSMC 方法的系统超调较小，恢复原平衡位置的速度较快，调整时间较短，误差较小。在使用 IIBSMC 方法设计控制器时，控制器的稳定性通过反步递归得到了理论证明。最后，仿真结果表明，所设计的控制器能较好地实现定点悬停和轨迹跟踪控制。

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引用次数: 0

Fractional order modeling and internal model control method for dielectric elastomer actuator 介电弹性体致动器的分数阶建模和内部模型控制方法

IF 2.4 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Asian Journal of Control

Pub Date : 2024-07-03 DOI: 10.1002/asjc.3463

Zhichao Xu, Jundong Wu, Yawu Wang

The dielectric elastomer actuator (DEA) is widely used in the field of soft robots due to its large deformation, light weight, fast response, and high-energy conversion efficiency. The high-precision control of the DEA is the precondition for soft robots to perform complicated tasks. In early studies, researchers usually employed integer order modeling and control methods to build the dynamic model of the DEA and to achieve its tracking control. However, these methods are not good at handling the complicated memory property of the DEA. In addition, the number of required parameters in integer order models and control methods is enormous, which hinders their practical applications. To solve these problems, the fractional order modeling method and fractional order internal model control method of the DEA are proposed in this paper. Firstly, a fractional order transfer function (FOTF) model of the DEA is built to depict its complicated memory property. Then, to achieve the computer control, an integer order approximation model (IOAM) of the FOTF model is built by using the Oustaloup filter. Considering that the order of the IOAM is too high, a reduced integer order approximation model is established by using the square root balance truncation algorithm to facilitate the system controller design. Next, a fractional order internal model controller is designed. Finally, tracking control experiments are exerted to demonstrate the effectiveness of the proposed method. Since the root-mean-square errors of all experimental results are less than 2%, the proposed modeling method and control method are superior from the perspective of the practical application.

介电弹性体致动器（DEA）具有变形量大、重量轻、响应速度快、能量转换效率高等特点，在软体机器人领域得到了广泛应用。对 DEA 的高精度控制是软机器人执行复杂任务的前提。在早期的研究中，研究人员通常采用整数阶建模和控制方法来建立 DEA 的动态模型并实现其跟踪控制。然而，这些方法并不能很好地处理 DEA 复杂的记忆特性。此外，整数阶模型和控制方法所需的参数数量巨大，阻碍了其实际应用。为了解决这些问题，本文提出了 DEA 的分数阶建模方法和分数阶内部模型控制方法。首先，建立 DEA 的分数阶传递函数（FOTF）模型，描述其复杂的记忆特性。然后，为了实现计算机控制，利用奥斯塔鲁普滤波器建立了分数阶传递函数模型的整数阶近似模型（IOAM）。考虑到 IOAM 的阶数过高，为了便于系统控制器的设计，利用平方根平衡截断算法建立了简化的整阶近似模型。接着，设计了一个分数阶内部模型控制器。最后，通过跟踪控制实验证明了所提方法的有效性。由于所有实验结果的均方根误差均小于 2%，因此从实际应用的角度来看，所提出的建模方法和控制方法是优越的。

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引用次数: 0

Analyzing complex fractional order systems physical phenomena in IOPI controller design 在 IOPI 控制器设计中分析复杂分数阶系统的物理现象

IF 2.7 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Asian Journal of Control

Pub Date : 2024-06-30 DOI: 10.1002/asjc.3420

Bilal Şenol, Uğur Demiroğlu

The Fractional Complex Order Plant model, which has lately gained popularity in applied physics and control systems, is the main subject of this study. The major contribution of this study to the literature is the discussion of the physical phenomena of complex plant models and how they affect the stability and robustness of the systems. Because the Fractional Complex Order Plant model is the most general mathematical form, other plant models covering the Integer Order Plant and the Fractional Order Plant can be easily created with this benefit. The proposed approach using the classical Proportional Integral controller which is recalled as the Integer-Order PI controller in this paper gives the calculation equations of the physical alterations of plants having integer, fractional, and complex orders. Along with the visuals and with the aid of simulations, the consequences of the parameters on the system are described. Additionally, the advantages and disadvantages of the proposed controller designs for each of the three plant species are discussed.

分数复阶植物模型是本研究的主要课题，该模型近来在应用物理学和控制系统领域颇受欢迎。本研究对文献的主要贡献在于讨论复杂植物模型的物理现象及其如何影响系统的稳定性和鲁棒性。由于分数复阶工厂模型是最通用的数学形式，因此可以利用这一优势轻松创建涵盖整阶工厂和分数阶工厂的其他工厂模型。本文提出的方法使用经典的比例积分控制器，即整数阶 PI 控制器，给出了整数阶、分数阶和复数阶工厂物理变化的计算公式。通过直观图和模拟，描述了参数对系统的影响。此外，还讨论了针对三种植物提出的控制器设计的优缺点。

引用次数: 0

Stabilization of complex-valued neural networks subject to semi-Markov jumping parameters: A dynamic event-triggered protocol 受半马尔科夫跳跃参数影响的复值神经网络的稳定：动态事件触发协议

IF 2.7 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Asian Journal of Control

Pub Date : 2024-06-30 DOI: 10.1002/asjc.3442

Yuan Wang, Huaicheng Yan, Zhichen Li, Meng Wang, Kaibo Shi

For continuous-time complex-valued neural networks, this paper addresses the state-feedback stabilization issue via dynamic event-triggered protocol. Aiming at random parameters' switching, semi-Markov jump model surpasses the Markov jump model in terms of its generality, enabling us to effectively capture the occurrence of random abrupt alterations in both the structure and parameters of complex-valued neural networks. To optimize packet transmission, a new dynamic event-based protocol is introduced to judge whether the previous signal transmission continues. The design of this protocol takes into full consideration the imaginary part characteristics of the system, while also integrating the system modes and dynamic variables. Utilizing an appropriate Lyapunov functional that contains auxiliary internal dynamical variables, the desired stability is proposed. Eventually, the effectiveness of theoretical findings is ultimately validated through two numerical simulations.

对于连续时间复值神经网络，本文通过动态事件触发协议来解决状态反馈稳定问题。针对随机参数切换，半马尔可夫跃迁模型在通用性上超越了马尔可夫跃迁模型，使我们能够有效捕捉复值神经网络结构和参数随机突变的发生。为了优化数据包传输，我们引入了一种新的基于事件的动态协议来判断前一个信号传输是否继续。该协议的设计充分考虑了系统的虚部特征，同时还整合了系统模式和动态变量。利用包含辅助内部动态变量的适当 Lyapunov 函数，提出了所需的稳定性。最后，通过两次数值模拟，最终验证了理论发现的有效性。

引用次数: 0

Predefined‐time adaptive neural dynamic surface tracking control for high‐order nonlinear switched systems 高阶非线性开关系统的预定义时间自适应神经动态表面跟踪控制

IF 2.4 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Asian Journal of Control

Pub Date : 2024-06-28 DOI: 10.1002/asjc.3436

Zhu Meng, Jiawei Ma, Huanqing Wang

In this article, the issue of adaptive predefined‐time control for high‐order switched systems is researched. Neural networks (NNs) are introduced to approximate the uncertain nonlinear functions. In particular, a novel predefined‐time convergence filter is proposed to refrain from the problem of repeated differentiation of virtual controllers. On the basis of the backstepping recursion technique and the common Lyapunov function (CLF) approach, a neural adaptive predefined‐time dynamic surface control (DSC) scheme is proposed that can demonstrate all the signals in closed‐loop systems are bounded and the tracking error can converge to a small area near zero within predefined time. The simulation results illustrate the effectiveness of the proposed control scheme.

本文研究了高阶开关系统的自适应预定义时间控制问题。本文引入了神经网络（NN）来逼近不确定的非线性函数。特别是提出了一种新型预定义时间收敛滤波器，以避免虚拟控制器的重复微分问题。在反步递归技术和共 Lyapunov 函数（CLF）方法的基础上，提出了一种神经自适应预定义时间动态表面控制（DSC）方案，该方案能证明闭环系统中的所有信号都是有界的，跟踪误差能在预定义时间内收敛到接近零的小区域。仿真结果表明了所提控制方案的有效性。

引用次数: 0

Observer‐based adaptive time‐varying bipartite formation tracking of multi‐agent systems with multiple nonautonomous leaders 具有多个非自主领导者的多代理系统的基于观测器的自适应时变双方阵跟踪

IF 2.4 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Asian Journal of Control

Pub Date : 2024-06-25 DOI: 10.1002/asjc.3453

Ge Wei, Jie Wu, Xisheng Zhan, Bo Wu, Huaicheng Yan

In this article, the problem of bipartite time‐varying formation (BTVF) tracking for multi‐agent systems (MASs) under signed digraphs is investigated, in which the inputs of leaders are unknown and bounded. A novel kind of adaptive nonsmooth BTVF tracking protocol for MASs is proposed that did not utilize eigenvalue of Laplacian matrix. Based on the state observer, the problem that the system states are not measurable is solved. In addition, in order to avoid undesirable chattering caused by leaders' nonzero inputs, continuous protocols are proposed. And in this case, the error is uniformly ultimately bounded. Lyapunov method reflects the convergence analysis of the submitted protocols. At last, the desired theoretical results are achieved on a multirobot system.

本文研究了有符号数字图下多代理系统（MAS）的双方格时变编队（BTVF）跟踪问题，其中领导者的输入是未知和有界的。提出了一种新型的 MAS 自适应非光滑 BTVF 跟踪协议，它不使用拉普拉卡矩阵的特征值。基于状态观测器，解决了系统状态不可测量的问题。此外，为了避免领导者非零输入引起的不希望的颤振，还提出了连续协议。在这种情况下，误差是均匀最终有界的。Lyapunov 方法反映了所提交协议的收敛性分析。最后，在多机器人系统上取得了理想的理论结果。

引用次数: 0

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