Practical prescribed-time fuzzy tracking control for uncertain nonlinear systems with time-varying actuators faults

The paper investigates the practical prescribed-time fuzzy tracking control problem for a category of nonlinear system subject to time-varying actuator faults.The presence of unknown nonlinear dynamics and actuator faults makes achieving tracking control within a prescribed-time challenging.To tackle this issue,we propose a novel practical prescribed-time fuzzy tracking control strategy,which is independent of the initial state of the system and does not rely on precise modeling of the system and actuators.We apply the approximation capabilities of fuzzy logic systems to handle the unknown nonlinear functions and unidentified actuator faults in the system.The piecewise controller and adaptive law constructed based on piecewise prescribed time-varying function and backstepping technique method establish the theoretical framework of practical prescribed-time tracking control,and extend the range of prescribed-time tracking control to infinity.Regardless of the initial conditions,the proposed control strategy can guarantee that all signals remain uniformly bounded within the practical prescribed time in the presence of unknown nonlinear item and time-varying actuator faults.Simulation example is presented to demonstrate the effectiveness of the proposed control strategy.

Ultimately Bounded Output Feedback Control for Networked Nonlinear Systems With Unreliable Communication Channel: A Buffer-Aided Strategy

This paper concerns ultimately bounded output-feedback control problems for networked systems with unknown nonlinear dynamics. Sensor-to-observer signal transmission is facilitated over networks that has communication constraints.These transmissions are carried out over an unreliable communication channel. In order to enhance the utilization rate of measurement data, a buffer-aided strategy is novelly employed to store historical measurements when communication networks are inaccessible. Using the neural network technique, a novel observer-based controller is introduced to address effects of signal transmission behaviors and unknown nonlinear dynamics.Through the application of stochastic analysis and Lyapunov stability, a joint framework is constructed for analyzing resultant system performance under the introduced controller. Subsequently, existence conditions for the desired output-feedback controller are delineated. The required parameters for the observerbased controller are then determined by resolving some specific matrix inequalities. Finally, a simulation example is showcased to confirm method efficacy.

Path-Following Based on Nonlinear Model Predictive Control with Adaptive Path Preview

This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,path following dynamics,and system input dynamics.The single-track vehicle model considers the vehicle’s coupled lateral and longitudinal dynamics,as well as nonlinear tire forces.The tracking error dynamics are derived based on the curvilinear coordinates.The cost function is designed to minimize path tracking errors and control effort while considering constraints such as actuator bounds and tire grip limits.An algorithm that utilizes the optimal preview distance vector to query the corresponding reference curvature and reference speed.The length of the preview path is adaptively adjusted based on the vehicle speed,heading error,and path curvature.We validate the controller performance in a simulation environment with the autonomous racing scenario.The simulation results show that the vehicle accurately follows the highly dynamic path with small tracking errors.The maximum preview distance can be prior estimated and guidance the selection of the prediction horizon for NMPC.

Adaptive Nonlinear PD Controller of Two-Wheeled Self-Balancing Robot with External Force

This paper proposes an adaptive nonlinear proportional-derivative(ANPD)controller for a two-wheeled self-balancing robot(TWSB)modeled by the Lagrange equation with external forces.The proposed control scheme is designed based on the combination of a nonlinear proportional-derivative(NPD)controller and a genetic algorithm,in which the proportional-derivative(PD)parameters are updated online based on the tracking error and the preset error threshold.In addition,the genetic algorithm is employed to adaptively select initial controller parameters,contributing to system stability and improved control accuracy.The proposed controller is basic in design yet simple to implement.The ANPD controller has the advantage of being computationally lightweight and providing high robustness against external forces.The stability of the closed-loop system is rigorously analyzed and verified using Lyapunov theory,providing theoretical assurance of its robustness.Simulations and experimental results show that the TWSB robot with the proposed ANPD controller achieves quick balance and tracks target values with very small errors,demonstrating the effectiveness and performance of the proposed controller.The proposed ANPD controller demonstrates significant improvements in balancing and tracking performance for two-wheeled self-balancing robots,which has great applicability in the field of robot control systems.This represents a promising solution for applications requiring precise and stable motion control under varying external conditions.

A new optimal adaptive backstepping control approach for nonlinear systems under deception attacks via reinforcement learning

In this paper,a new optimal adaptive backstepping control approach for nonlinear systems under deception attacks via reinforcement learning is presented in this paper.The existence of nonlinear terms in the studied system makes it very difficult to design the optimal controller using traditional methods.To achieve optimal control,RL algorithm based on critic–actor architecture is considered for the nonlinear system.Due to the significant security risks of network transmission,the system is vulnerable to deception attacks,which can make all the system state unavailable.By using the attacked states to design coordinate transformation,the harm brought by unknown deception attacks has been overcome.The presented control strategy can ensure that all signals in the closed-loop system are semi-globally ultimately bounded.Finally,the simulation experiment is shown to prove the effectiveness of the strategy.

Sliding mode H_∞ control for a class of uncertain nonlinear state-delayed systems

A new proportional-integral （PI） sliding surface is designed for a class of uncertain nonlinear state-delayed systems. Based on this, an adaptive sliding mode controller （ASMC） is synthesized, which guarantees the occurrence of sliding mode even when the system is undergoing parameter uncertainties and external disturbance. The resulting sliding mode has the same order as the original system, so that it becomes easy to solve the H∞ control problem by designing a memoryless H∞ state feedback controller. A delay-dependent sufficient condition is proposed in terms of linear matrix inequalities （LMIs）, which guarantees the sliding mode robust asymptotically stable and has a noise attenuation level γ in an H∞ sense. The admissible state feedback controller can be found by solving a sequential minimization problem subject to LMI constraints by applying the cone complementary linearization method. This design scheme combines the strong robustness of the sliding mode control with the H∞ norm performance. A numerical example is given to illustrate the effectiveness of the proposed scheme.

Acceleration Feedback Enhanced H_∞Disturbance Attenuation Control for a Class of Nonlinear Underactuated Vehicle Systems

在这篇论文，一个概括加速反馈控制(声频抗流圈) 设计方法，命名声频抗流圈提高了 H ∞控制器，为两个被建议完整激活并且在激活的非线性的自治车辆系统下面。声频抗流圈基于已知的动力学作为柔韧的改进被设计到正常控制。首先，以便拒绝不确定性和外部骚乱，线性 prefilter 在新声频抗流圈设计方法被使用在正常声频抗流圈代替高获得。然后，背走算法被用于 AFC 设计在激活的系统下面。两个的分析在有限获得 L2 稳定性显示出的频率领域和输入产量的骚乱变细新控制器设计方法是适用的。最后，模拟关于无人的模型直升飞机的追踪的控制被进行。结果与没有声频抗流圈，追踪的控制获得验证新方法的可行性的那些相比。

Robust H_∞ controller design for a class of nonlinear fuzzy time-delay systems

The problem of fuzzy modeling for state and input time-delays systems with a class of nonlinear uncertainties by fuzzy T-S model is addressed.By using the linear matrix inequality（LMI） method, the problem of fuzzy robust H ∞ controller design for the system is studied.Assuming that the nonlinear uncertain functions in the model considered are gain-bounded, a sufficient condition for the robustly asymptotic stability of the closed-loop system is obtained via Lyapunov stability theory.By solving the LMI, a feedback control law which guarantees the robustly asymptotic stability of the closed-loop system is constructed and the effect of the disturbance input on the controlled output is ruduced to a prescribed level.

Solution of the HJI equations for nonlinear H_∞ control design by state-dependent Riccati equations approach

The relationship between the technique by state- dependent Riccati equations （SDRE） and Hamilton-Jacobi-lsaacs （HJI） equations for nonlinear H∞ control design is investigated. By establishing the Lyapunov matrix equations for partial derivates of the solution of the SDREs and introducing symmetry measure for some related matrices, a method is proposed for examining whether the SDRE method admits a global optimal control equiva- lent to that solved by the HJI equation method. Two examples with simulation are given to illustrate the method is effective.

Robust H_∞ control for a class of nonlinear singular system with uncertain parameters

The static output feedback H∞ control is explored for a class of nonlinear singular system with norm-bounded uncertainty. On certain suppose, the zero solution asymptotically stability is analyzed by means of Lyapunov function and Lyapunov stability theory. Based on which, a sufficient condition is presented such that the system is zero solution asymptotically stable and has H∞ norm constraint γ. Then, the static output feedback H∞ controller is designed to guarantee the resulting closed-loop system has the same performance. Finally, an example proves the effectiveness of the conclusion.

The H_∞ synchronization of nonlinear Bloch systems via dynamic feedback control approach

We consider an H∞ synchronization problem in nonlinear Bloch systems. Based on Lyapunov stability theory and linear matrix inequality formulation, a dynamic feedback controller is designed to guarantee asymptotic stability of the master-slave synchronization. Moreover, this controller reduces the effect of an external disturbance to the H∞ norm constraint. A numerical example is given to validate the proposed synchronization scheme.

Singular Stabilization and H_∞ Control of Nonlinear Systems with Ordinary Homogeneous Properties

In this paper, the nonlinear singular stabilization, H∞ control problem of systems with ordinary homogeneous properties is considered. At first, we discuss the stabilization problems of nonlinear systems with homogeneous. Secondly, by vitue of Hamilton-Jacobi-Isaacs equations or inequalities, we solve regular H∞ of nonlinear systems with homogeneous properties. To overcome the H∞ problem of singular nonlinear system, we try to transform inputs of the singular nonlinear system into two parts： regular part input and singular part input. Following the previous results, we solve the singular nonlinear system H∞ control, we give the Lyapunov function and the state feedback controller of the singular nonlinear systems with homogeneous properties.

Robust H_∞ State Feedback Control for a Class of Switched Nonlinear Systems Based on La Salle Invariant Principle

For a class of switched nonlinear systems, the BIBO stable domain is introduced in this paper. The robust H - infinity control problem for switched nonlinear systems with parameter uncertainty is investigated using the BIBO stable domain.Aiming at the effect of parameter uncertainties,a switching strategy and each state feedback sub - controller design are stated to guarantee the H - infinity performance of the whole switched system based on La Salle invariant principle.

Adaptive Nonlinear PID Control and Rule-Based Compensation for Systems with Backlash

The control of dynamic nonlinear systems with unknown backlash was considered. By using an efficient approach to estimate the unknown backlash parameters, a rule? based backlash compensator was presented for canceling the effect of backlash. Adaptive nonlinear PID controller together with rule? based backlash compensator was developed and a satisfactory tracking performance was achieved. Simulation results demonstrated the effectiveness of the proposed method.

Static Output Feedback H_∞ Controllers Design for Descriptor Linear Systems Based on LMI

This paper considers the design problem of static output feedback H ∞ controllers for descriptor linear systems with linear matrix inequality (LMI) approach. Necessary and sufficient conditions for the existence of a static output feedback H ∞ controller are given in terms of LMIs. Furthermore, the design method of H ∞ controllers is provided using the solutions to the LMIs.

含时滞的不确定性交直流微电网直流母线电压H_∞控制

针对含通信网络延时的不确定性交直流微电网的直流母线电压稳定问题,提出了一种将状态空间法和阻抗分析法相融合的方法,构建具有时滞的范数有界不确定交直流微电网模型。基于系统鲁棒二次稳定的求解,获得了满足H_∞控制性能的时滞无关型状态反馈控制器的条件。然后应用S-procedure定理,提出一种降低时滞依赖型Lyapunov方法的泛函构造难度且无须再次求导的方法,引用Wirtinger积分不等式和自由矩阵的积分不等式,得到时滞依赖型的H_∞控制器。仿真分析验证了所提控制方法能在一定的通信延时约束下抑制不确定参数对直流母线电压的影响。

The Application and Design of the Economical Nonlinear Controller

This anticle gives a design method of the economical nonlinear controller. The controller is composed of an expert intelligent coordination controller, a fuzzy prediction controller, a fuzzy feedforward controller, a nonlinear controller and so on. The consistence of a distributed control system based on this controller is also shown briefly.

ROBUST CONTROL OF A CLASS OF NONLINEAR SYSTEM WITH TIME-VARYING PAR AMETRIC UNCERTAINTIES

A class of triangular non li near system with disturbances which has unknown multiplicative time varying par ametric uncertainties in each virtual control is treated by a backstepping techn ique. The controller designed for all admissible uncertainties can guarantee tha t all states of its closed loop system are uniformly bounded. The robust contro ller design algorithm and a sufficient condition of the system stability are giv en. In addition, the closed loop system has an ISS property when the multiplica tive time varying parametric uncertainties are viewed as inputs to the system. Thus, this design provides a way to prevent a destabilizing effect of the multip licative time varying parametric uncertainties. Finally, simulational example i s given and simulational result shows that the controller exhibits effectiveness and excellent robustness.

DESIGN OF A NOVEL NONLINEAR DISORETE-TIME CONTROLMETHOD FOR SWITOHING OONVERTERS

Based on the high frequency and large signal discrete-time model for switching converters,a nonlinear discrete-time control method is designed on the principle of dynamic programming. In one switch period the optimal duty ratio is got in accordance with a minimum error of the output voltage,then the duty ratio is checked and regulated with the energy function in order to make the global performance best. In thisway the complete objective function is obtained. Based on the objective function,the fast and accurate control effect is accomplished.

A guidance and control design with reduced information for a dual-spin stabilized projectile

In this paper,an integrated guidance and control method based on an adaptive path-following controller is proposed to control a spin-stabilized projectile with only translational motion information under the constraint of an actuator,uncertainties in aerodynamic parameters and measurements,and control system complexity.Owing to the fairly high rotation speed,the dynamic model of this missile is strongly nonlinear,uncertain and coupled in pitch,yaw and roll channels.A theoretical equivalent resultant force and uncertainty compensation method are comprehensively used to realize decoupling of pitch and yaw.In response to the strong nonlinear and time-varying characteristics of the dynamic system,the quasi-linear model whose parameters are obtained by interpolation of points selected as the segmentation points in the trajectory envelope,is used for calculation in each step.To cope with the system uncertainty caused by model approximation,parameter uncertainty and ballistic interference,an extended state estimator is used to compensate the output feedback according to the test ballistic angle.In order to improve the tracking efficiency and ensure the tracking error convergence with only translational motion information,the virtual guide point,whose derivative is deduced according to the Lyapunov principle,is calculated in real time according to the projection relationship between the real-time position and the reference trajectory,and a virtual line-of-sight angle and the backstepping method are used for the design of the guidance and control system.In order to avoid the influence of control input saturation on the guidance and control performance due to the actuator limitation and improve the robustness of the system,an anti-saturation compensator is designed according to the two-step method.The feasibility and effectiveness of the path-following controller is verified through closed-loop flight simulations with measurement,control,and condition uncertainties.The results indicate that the designed controller can converge to the reference path and evidently decrease the distance between the impact point and target under different uncertainties.