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Dynamic Event-Triggered Consensus Control for Input Constrained Multi-Agent Systems With a Designable Minimum Inter-Event Time
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作者 Meilin Li Yue Long +2 位作者 Tieshan Li Hongjing Liang C.L.Philip Chen 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第3期649-660,共12页
This paper investigates the consensus control of multi-agent systems(MASs) with constrained input using the dynamic event-triggered mechanism(ETM).Consider the MASs with small-scale networks where a centralized dynami... This paper investigates the consensus control of multi-agent systems(MASs) with constrained input using the dynamic event-triggered mechanism(ETM).Consider the MASs with small-scale networks where a centralized dynamic ETM with global information of the MASs is first designed.Then,a distributed dynamic ETM which only uses local information is developed for the MASs with large-scale networks.It is shown that the semi-global consensus of the MASs can be achieved by the designed bounded control protocol where the Zeno phenomenon is eliminated by a designable minimum inter-event time.In addition,it is easier to find a trade-off between the convergence rate and the minimum inter-event time by an adjustable parameter.Furthermore,the results are extended to regional consensus of the MASs with the bounded control protocol.Numerical simulations show the effectiveness of the proposed approach. 展开更多
关键词 constrained input designable minimum inter-event time directed communication topology dynamic event-triggered mechanism MASs consensus control
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Determination of Monitoring Control Value for Concrete Gravity Dam Spatial Deformation Based on POT Model
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作者 Zhiwen Xie Tiantang Yu 《Computer Modeling in Engineering & Sciences》 SCIE EI 2023年第6期2119-2135,共17页
Deformation can directly reflect the working behavior of the dam,so determining the deformation monitoring control value can effectively monitor the safety of dam operation.The traditional dam deformation monitoring c... Deformation can directly reflect the working behavior of the dam,so determining the deformation monitoring control value can effectively monitor the safety of dam operation.The traditional dam deformation monitoring control value only considers the single measuring point.In order to overcome the limitation,this paper presents a new method to determine the monitoring control value for concrete gravity dam based on the deformations of multi-measuring points.A dam’s comprehensive deformation displacement is determined by the measured values at different measuring points on the positive inverted vertical line and the corresponding weight of eachmeasuring point.The projection pursuit method(PPM)combined with the grey wolf optimization(GWO)algorithm is used to determine the weight of each measuring point according to the spatial correlation distribution characteristics of dam deformation.The peaks over threshold(POT)model based on the extreme value theory is adopted to determine the monitoring control value with the obtained dam comprehensive deformation displacement.In addition,the POTmodel is improved with the automatic threshold determinationmethod based on the 3σcriterion in probability theory and the GWO algorithm,which can avoid subjectivity and randomness in determining the threshold.The results of the engineering application show the feasibility and applicability of the proposed method. 展开更多
关键词 Concrete gravity dam DEFORMATION monitoring control value PPM GWO POT
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Thinking about Value Realization of Ecological Products under the Background of Urban-rural Integration in Chengdu“Western Control”Area
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作者 ZHANG Xuequan ZHANG Yi 《Journal of Landscape Research》 2023年第2期59-62,共4页
Chengdu's development strategy of“western control”has laid a solid ecological background for 8 western districts,cities and counties and cultivated good ecological resources.The integrated urban-rural developmen... Chengdu's development strategy of“western control”has laid a solid ecological background for 8 western districts,cities and counties and cultivated good ecological resources.The integrated urban-rural development in the new era will realize the balanced development of urban and rural areas and give full play to the value of rural ecological resources through the“powerful combination”of urban and rural areas.To realize the urban-rural integration and high-quality rural development in Chengdu“western control”area,it is necessary to enhance the awareness of ecological resources and ecological products,and carry out unified planning of ecological infrastructure,ecological material products and ecological service products in the whole“western control”area.Meantime,ecological restoration must be carried out scientifically,and scene design for value transformation of ecological products should be implemented innovatively. 展开更多
关键词 Western control Urban-rural integration Ecological products Ecological value transformation
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基于ControlVAE的约束嵌入稠密时变阵列构建
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作者 孙文力 原达 姜新波 《电子学报》 EI CAS CSCD 北大核心 2024年第1期354-363,共10页
在对探地雷达(Ground Penetrating Radar,GPR)数据进行三维建模与可视化分析过程中,其所依赖的三维时变阵列通常是由一维数据道或二维阵列间接生成的.由于采集到的数据往往比较稀疏,且存在不规则偏移,需要进行稠密处理,以获得高密度三... 在对探地雷达(Ground Penetrating Radar,GPR)数据进行三维建模与可视化分析过程中,其所依赖的三维时变阵列通常是由一维数据道或二维阵列间接生成的.由于采集到的数据往往比较稀疏,且存在不规则偏移,需要进行稠密处理,以获得高密度三维时变阵列.本文提出了一种基于可控变分自编码(Controllable Variational AutoEncoder,ControlVAE)的约束嵌入稠密时变阵列构建方法 .使用基于ControlVAE的时变数据重构网络,通过隐空间采样插值和深浅层特征信息的融合,生成接近真实分布的伪道数据来增加阵列密度.构建了基于尺度不变特征变换的数据配准模块,提取道间梯度特征与结构对称性特征,可以在时空域内完成数据配准.同时将浅层特征作为约束信息嵌入数据重构网络,以消除数据道偏移对阵列生成的影响.实验结果表明,本文方法仅使用单测线二维B-scan数据集即可重建稠密时变阵列,可以有效降低重构模型累积误差,提高面对复杂真实数据时的鲁棒性. 展开更多
关键词 时变阵列 数据生成 探地雷达 约束嵌入 可控变分自编码模型
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Disturbance rejection tube model predictive levitation control of maglev trains
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作者 Yirui Han Xiuming Yao Yu Yang 《High-Speed Railway》 2024年第1期57-63,共7页
Magnetic levitation control technology plays a significant role in maglev trains.Designing a controller for the levitation system is challenging due to the strong nonlinearity,open-loop instability,and the need for fa... Magnetic levitation control technology plays a significant role in maglev trains.Designing a controller for the levitation system is challenging due to the strong nonlinearity,open-loop instability,and the need for fast response and security.In this paper,we propose a Disturbance-Observe-based Tube Model Predictive Levitation Control(DO-TMPLC)scheme combined with a feedback linearization strategy for the levitation system.The proposed strategy incorporates state constraints and control input constraints,i.e.,the air gap,the vertical velocity,and the current applied to the coil.A feedback linearization strategy is used to cancel the nonlinearity of the tracking error system.Then,a disturbance observer is implemented to actively compensate for disturbances while a TMPLC controller is employed to alleviate the remaining disturbances.Furthermore,we analyze the recursive feasibility and input-to-state stability of the closed-loop system.The simulation results indicate the efficacy of the proposed control strategy. 展开更多
关键词 Maglev trains Levitation system constrained control Disturbance observer Model predictive control
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Simulation Study on Heat Value Control System of Natural Gas Used for Color TV Tubes Production 被引量:1
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作者 郑斌 《Journal of Beijing Institute of Technology》 EI CAS 2006年第3期283-287,共5页
In order to know the character of the heat value control system, determine the influence of natural gas quality and flow on the heat value, and learn how to adjust the parameters of control system, the model of the wh... In order to know the character of the heat value control system, determine the influence of natural gas quality and flow on the heat value, and learn how to adjust the parameters of control system, the model of the whole system is established, and simulation of the system is adopted in Matlab/Simulink. The simulation result shows that the feedback system with feed-forward block controls the heat value very well, and the simulation result can effectively guide the engineering design of the heat value control system, and the efficiency of engineering is improved. 展开更多
关键词 natural gas heat value control system simulation
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An Upper Limit for Iterative Learning Control Initial Input Construction Using Singular Values 被引量:1
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作者 Naser Alajmi Ali Alobaidly +2 位作者 Mubarak Alhajri Salem Salamah Muhammad Alsubaie 《Intelligent Control and Automation》 2017年第3期154-163,共10页
Selecting a proper initial input for Iterative Learning Control (ILC) algorithms has been shown to offer faster learning speed compared to the same theories if a system starts from blind. Iterative Learning Control is... Selecting a proper initial input for Iterative Learning Control (ILC) algorithms has been shown to offer faster learning speed compared to the same theories if a system starts from blind. Iterative Learning Control is a control technique that uses previous successive projections to update the following execution/trial input such that a reference is followed to a high precision. In ILC, convergence of the error is generally highly dependent on the initial choice of input applied to the plant, thus a good choice of initial start would make learning faster and as a consequence the error tends to zero faster as well. Here in this paper, an upper limit to the initial choice construction for the input signal for trial 1 is set such that the system would not tend to respond aggressively due to the uncertainty that lies in high frequencies. The provided limit is found in term of singular values and simulation results obtained illustrate the theory behind. 展开更多
关键词 ITERATIVE Learning control INITIAL INPUT Selection SINGULAR valueS
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The Study of the Application of the Gray Relevancy Analysis to the Value Chain Based Cost Control 被引量:1
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作者 Xinmin Dai Bin Hao 《Journal of Modern Accounting and Auditing》 2006年第2期22-28,共7页
Cost problem is always a bottleneck which ties to the development and the competition ability in the enterprise of our country, especially in state-owned enterprise. Practice proves that traditional cost control can n... Cost problem is always a bottleneck which ties to the development and the competition ability in the enterprise of our country, especially in state-owned enterprise. Practice proves that traditional cost control can not satisfy the needs of enterprises. Enterprises are seeking better cost control approach with great efforts in order to calculate and control cost more accurately, and require cost control system has more strong functions. This paper analyzes value chain based cost control approach, and applies the gray relevancy analysis to the approach rightly. 展开更多
关键词 value chain value activities cost control relation degree
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Cost control based on value chain paying equal attention to earning more income and cutting down expense 被引量:1
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作者 HAN Zhi-qing 《Journal of Modern Accounting and Auditing》 2007年第11期14-18,40,共6页
According to the idea of cost control based on the value chain, several important factors are necessary. Firstly, it is necessary to have enough resources, which must be invested to create advantageous value chain bas... According to the idea of cost control based on the value chain, several important factors are necessary. Firstly, it is necessary to have enough resources, which must be invested to create advantageous value chain based on customer value. It is also necessary to be sure of the cost advantage of the value chain. Secondly, the consumption of resources must be reduced as much as possible to enable the smallest operating cost for the value chain and make sure of the cost advantage based on maximum business value or profit. It is a kind of cost control from the whole view of creation and supply of value. In practice, it is also a kind of cost control system based on the value chain. It includes enough control and necessary resource investment from the view of the value creation, and keeps consumption of resources to a reasonable level from the view of the value supply. The main object of the first factor is to construct the advantageous value chain from creating customer value; and the second factor is to strengthen the advantageous value chain from supplying or producing customer value. Therefore it is a new kind of idea to explore this cost control from the whole view of creation and supply of value. It is more profitable for businesses to gain sustainable competitive advantage. 展开更多
关键词 value chain cost control earning more income cutting down expenses
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Series-parallel Hybrid Vehicle Control Strategy Design and Optimization Using Real-valued Genetic Algorithm 被引量:14
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作者 XIONG Weiwei YIN Chengliang ZHANG Yong ZHANG Jianlong 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2009年第6期862-868,共7页
Despite the series-parallel hybrid electric vehicle inherits the performance advantages from both series and parallel hybrid electric vehicle, few researches about the series-parallel hybrid electric vehicle have been... Despite the series-parallel hybrid electric vehicle inherits the performance advantages from both series and parallel hybrid electric vehicle, few researches about the series-parallel hybrid electric vehicle have been revealed because of its complex co nstruction and control strategy. In this paper, a series-parallel hybrid electric bus as well as its control strategy is revealed, and a control parameter optimization approach using the real-valued genetic algorithm is proposed. The optimization objective is to minimize the fuel consumption while sustain the battery state of charge, a tangent penalty function of state of charge(SOC) is embodied in the objective function to recast this multi-objective nonlinear optimization problem as a single linear optimization problem. For this strategy, the vehicle operating mode is switched based on the vehicle speed, and an "optimal line" typed strategy is designed for the parallel control. The optimization parameters include the speed threshold for mode switching, the highest state of charge allowed, the lowest state of charge allowed and the scale factor of the engine optimal torque to the engine maximum torque at a rotational speed. They are optimized through numerical experiments based on real-value genes, arithmetic crossover and mutation operators. The hybrid bus has been evaluated at the Chinese Transit Bus City Driving Cycle via road test, in which a control area network-based monitor system was used to trace the driving schedule. The test result shows that this approach is feasible for the control parameter optimization. This approach can be applied to not only the novel construction presented in this paper, but also other types of hybrid electric vehicles. 展开更多
关键词 series-parallel hybrid electric vehicle control strategy DESIGN OPTIMIZATION real-valued genetic algorithm
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Decentralized robust H-infinity descriptor output feedback control for value-bounded uncertain descriptor large-scale systems 被引量:6
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作者 Yongfang XIE Weihua GUI Zhaohui JIANG 《控制理论与应用(英文版)》 EI 2006年第2期193-200,共8页
For a class of value-bounded uncertain descriptor large-scale interconnected systems, the decentralized robust H∞ descriptor output feedback control problem is investigated. A design method based on the bounded real ... For a class of value-bounded uncertain descriptor large-scale interconnected systems, the decentralized robust H∞ descriptor output feedback control problem is investigated. A design method based on the bounded real lemma is developed for a decentralized descriptor dynamic output feedback controller, which is reduced to a feasibility problem for a nonlinear matrix inequality (NLMI). It is proposed to solve the NLMI iteratively by the idea of homotopy, where some of the variables are fixed alternately at each iteration to reduce the NLMI to a linear matrix inequality (LMI). A given example shows the efficiency of this method . 展开更多
关键词 Descriptor output feedback value-bounded uncertainty Decentralized H-infinity control Homotopy method LMI
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Consensus Control With a Constant Gain for Discrete-time Binary-valued Multi-agent Systems Based on a Projected Empirical Measure Method 被引量:5
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作者 Ting Wang Min Hu Yanlong Zhao 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2019年第4期1052-1059,共8页
This paper studies the consensus control of multiagent systems with binary-valued observations.An algorithm alternating estimation and control is proposed.Each agent estimates the states of its neighbors based on a pr... This paper studies the consensus control of multiagent systems with binary-valued observations.An algorithm alternating estimation and control is proposed.Each agent estimates the states of its neighbors based on a projected empirical measure method for a holding time.Based on the estimates,each agent designs the consensus control with a constant gain at some skipping time.The states of the system are updated by the designed control,and the estimation and control design will be repeated.For the estimation,the projected empirical measure method is proposed for the binary-valued observations.The algorithm can ensure the uniform boundedness of the estimates and the mean square error of the estimation is proved to be at the order of the reciprocal of the holding time(the same order as that in the case of accurate outputs).For the consensus control,a constant gain is designed instead of the stochastic approximation based gain in the existing literature for binary-valued observations.And,there is no need to make modification for control since the uniform boundedness of the estimates ensures the uniform boundedness of the agents’states.Finally,the systems updated by the designed control are proved to achieve consensus and the consensus speed is faster than that in the existing literature.Simulations are given to demonstrate the theoretical results. 展开更多
关键词 Binary-valued observations CONSENSUS control CONSTANT GAIN convergence rate multi-agent systems projected empirical measure method
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Accuracy Assignment Study of Tank Fire Control System Based on Value Analysis Method
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作者 窦丽华 张佳 陈杰 《Journal of Beijing Institute of Technology》 EI CAS 2006年第4期411-415,共5页
A method of accuracy assignment based on value analysis method (VAM) in tank fire control system (TFCS) is proposed. From the analysis of primary error sources and their error transfer relationships, the mathemati... A method of accuracy assignment based on value analysis method (VAM) in tank fire control system (TFCS) is proposed. From the analysis of primary error sources and their error transfer relationships, the mathematical model is built on the basis of VAM to solve the accuracy assignment problem. Simulation results show the validation and feasibility of the proposed method. It can help designer of tank fire control system work out an optimal system more efficiently and more economically. 展开更多
关键词 tank fire control system(TFCS) accuracy assignment value analysis method(VAM)
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A Control Theoretical Model of Web Service Value Development
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作者 Anthony S. White Doreen Nielsen Michael Censlive 《Open Journal of Modelling and Simulation》 2019年第2期125-147,共23页
This paper describes a control theoretical model of collaborative value development. This model is designed to assist managers in choosing parameters that are critical to the development process in service design and ... This paper describes a control theoretical model of collaborative value development. This model is designed to assist managers in choosing parameters that are critical to the development process in service design and support their Business Model. This methodology uses control system modelling of web-based service value generation implemented in SIMULINK/MATLAB. An application based on public domain Wikipedia data is used to validate and develop the model. A control theoretic model applied to the creation of Wikipedia articles shows very good agreement with Wikipedia published data for the time dependent growth in articles produced, and editors used, well within the variability of parametric data listed publically justifying the principle equations used in the model. This development and fine tuning of the model has been limited by the publically available data. To obtain a more accurate model in this area would need the co-operation of web service organisations to reveal confidential data. This modelling procedure can produce a decision support process for service design and could, with modification be applied much more widely to other choices in service design/implementation, even allowing for user contribution to be evaluated. This work shows how subjective judgements on value and other intangibles need to be continually re-evaluated. Such methodology has not been applied elsewhere to value generation applications. It could be used to rank contributions from co-creators for reward sharing. 展开更多
关键词 Service value control THEORETICAL Model Simulink Simulation WIKIPEDIA DEVELOPMENT
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The Influence of Spiritual Values on Work Motivation, Management Control, and Quality of Financial Information on IFIs in Indonesia
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作者 Firman Menne Muhammad Ali +1 位作者 Abd. Hamid Habbe Yohanis Rura 《Journal of Modern Accounting and Auditing》 2016年第11期537-555,共19页
This study aims to investigate the influence of spiritual values on work motivation, management control, and the quality of financial information on Islamic financial institutions (IFIs) in Indonesia. Spiritual valu... This study aims to investigate the influence of spiritual values on work motivation, management control, and the quality of financial information on Islamic financial institutions (IFIs) in Indonesia. Spiritual values are measured using four reflexive indicators, namely, Shiddiq, Fathanah, Amanah, and Tabligh. Work motivation is formed by four formative indicators, namely, compensation, recognition, work experience, and openness. Management control variable is formed by four formative indicators, namely, planning, implementing, evaluating, and monitoring, and finally, the quality of financial information is manifested in four reflexive variables, namely, relevant, comparable, understandable, and consistent. Data are collected through questionnaires with 125 respondents as samples from three types of IFIs, such as Islamic banking, Islamic pawnshop, and Islamic insurance in Indonesia. Methods of data analysis include the use of partial least squares (PLS) to analyze the influence of spiritual values on work motivation, management control, and quality of financial information. The results of this study showed that the manifestation of spiritual values in IFIs is able to influence the quality of financial information through the media as motivation and management control, but directly spiritual values are not able to influence the quality of financial information. While work motivation and management control significantly influence the quality of financial information. 展开更多
关键词 spiritual values work motivation management control quality of financial information
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Using Singular Value to Set Output Disturbance Limits to Feedback ILC Control
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作者 Rashid Alzuabi Athari Alotaibi Humoud Alqattan 《Intelligent Control and Automation》 2022年第2期17-24,共8页
Iterative Learning Control is an effective way of controlling the errors which act directly on the repetitive system. The stability of the system is the main objective in designing. The Small Gain Theorem is used in t... Iterative Learning Control is an effective way of controlling the errors which act directly on the repetitive system. The stability of the system is the main objective in designing. The Small Gain Theorem is used in the design process of State Feedback ILC. The feedback controller along with the Iterative Learning Control adds an advantage in producing a system with minimal error. The past error and current error feedback Iterative control system are studied with reference to the region of disturbance at the output. This paper mainly focuses on comparing the region of disturbance at the output end. The past error feed forward and current error feedback systems are developed on the singular values. Hence, we use the singular values to set an output disturbance limit for the past error and current error feedback ILC system. Thus, we obtain a result of past error feed forward performing better than the current error feedback system. This implies greater region of disturbance suppression to past error feed forward than the other. 展开更多
关键词 Iterative Learning control Disturbance Output Singular values
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Active Vibration Control of Beam Using Electro-magnetic Constrained Layer Damping 被引量:3
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作者 牛红攀 张亚红 +1 位作者 张希农 谢石林 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2008年第2期115-124,共10页
This paper investigates vibration control of beam through electro-magnetic constrained layer damping (EMCLD) which consists of electromagnet layer, permanent magnet layer and viscoelastic damping layer. When the coi... This paper investigates vibration control of beam through electro-magnetic constrained layer damping (EMCLD) which consists of electromagnet layer, permanent magnet layer and viscoelastic damping layer. When the coil of the electromagnet is electrified with proper control strategy, the electromagnet can exert magnetic force opposite to the direction of structural deformation so that the structural vibration is attenuated. A mathematical model is developed based on the equivalent current method to calculate the electromagnetic control force produced by EMCLD. The governing equations of the system are obtained using Hamilton's Principle and then reduced with the assumed-mode method. A simulation on vibration control of a cantilever beam is conducted under the velocity proportional feedback to demonstrate the energy dissipation capability of EMCLD, and the beam system with the same parameter is experimented. The results of experiment and simulation are compared and the results show that the EMCLD is an effective means for suppressing modal vibration. The results also indicate that the beam system has better control performance for larger control current. The EMCLD method presented in this paper provides an applicable and efficient tool for the vibration control of structures. 展开更多
关键词 electro-magnetic constrained layer damping (EMCLD) vibration control active control
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An Academic Summary of the International Seminar on “Comparison of the Human Rights value between the East and the West in Epidemic Prevention and Control”
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作者 滕锐 崔萌洁 HU Liang 《The Journal of Human Rights》 2020年第4期515-526,共12页
The international video seminar"Comparison of the Human Rights Values between the East and the West in Epidemic Prevention and Control",hosted by the Institute of Human Rights Law of Huazhong University of S... The international video seminar"Comparison of the Human Rights Values between the East and the West in Epidemic Prevention and Control",hosted by the Institute of Human Rights Law of Huazhong University of Science and Technology,was successfully held on May 30,2020.Against the background of the fight against the CO VID-19 pandemic,this seminar fostered exchanges and discussions on human rights values.As the first country that has contained the epidemic successfully,China shared its experience in the practice of human rights values in epidemic prevention and control,while experts from various countries also shared different human rights values embodied in epidemic prevention and control.This seminar allowed for demonstration of the situation of human rights protection in different countries and regions and exchanges of dilemmas and countermeasures during the specific practice of human rights protection.In the collision of different views and the exchange of multi-dimension dialogues,the seminar called for a sense of a global community of health for all and aimed to foster solidarity and international cooperation for greater contributions to the human rights protection in global epidemic prevention and the development of human rights worldwide. 展开更多
关键词 human rights values epidemic prevention and control the east and the west
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Sub-Time-Optimal Control of Constrained Nonlinear Systems
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作者 张娟 陈杰 张宇河 《Journal of Beijing Institute of Technology》 EI CAS 2001年第4期395-401,共7页
To reduce the number of the level sets used in algorithm of constrained nonlinear systems via ellipsoidal techniques, according to the analysis of mathematics, searching algorithm is used for choosing the control inpu... To reduce the number of the level sets used in algorithm of constrained nonlinear systems via ellipsoidal techniques, according to the analysis of mathematics, searching algorithm is used for choosing the control input. Simulation shows that the number of level sets used for controlling is almost the same as that used in polytope techniques. Sub time optimal algorithm reduces the number of the level sets used in ellipsoidal techniques. 展开更多
关键词 nonlinear control constrained control ellipsoidal techniques
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Time-Varying Asymmetrical BLFs Based Adaptive Finite-Time Neural Control of Nonlinear Systems With Full State Constraints 被引量:5
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作者 Lei Liu Tingting Gao +1 位作者 Yan-Jun Liu Shaocheng Tong 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2020年第5期1335-1343,共9页
This paper concentrates on asymmetric barrier Lyapunov functions(ABLFs)based on finite-time adaptive neural network(NN)control methods for a class of nonlinear strict feedback systems with time-varying full state cons... This paper concentrates on asymmetric barrier Lyapunov functions(ABLFs)based on finite-time adaptive neural network(NN)control methods for a class of nonlinear strict feedback systems with time-varying full state constraints.During the process of backstepping recursion,the approximation properties of NNs are exploited to address the problem of unknown internal dynamics.The ABLFs are constructed to make sure that the time-varying asymmetrical full state constraints are always satisfied.According to the Lyapunov stability and finitetime stability theory,it is proven that all the signals in the closedloop systems are uniformly ultimately bounded(UUB)and the system output is driven to track the desired signal as quickly as possible near the origin.In the meantime,in the scope of finitetime,all states are guaranteed to stay in the pre-given range.Finally,a simulation example is proposed to verify the feasibility of the developed finite time control algorithm. 展开更多
关键词 Barrier Lyapunov functions constrained control finite time stability neural control
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