An improved nonlinear adaptive switching control method is presented to relax the assumption on the higher order nonlinear terms of a class of discrete-time non-affine nonlinear systems. The proposed control strategy ...An improved nonlinear adaptive switching control method is presented to relax the assumption on the higher order nonlinear terms of a class of discrete-time non-affine nonlinear systems. The proposed control strategy is composed of a linear adaptive controller, a neural network(NN) based nonlinear adaptive controller and a switching mechanism. An incremental model is derived to represent the considered system and an improved robust adaptive law is chosen to update the parameters of the linear adaptive controller. A new performance criterion of the switching mechanism is designed to select the proper controller. Using this control scheme, all the signals in the system are proved to be bounded. Numerical examples verify the effectiveness of the proposed algorithm.展开更多
This paper deals with nonholonomic systems in chained form with unknown covariance stochastic disturbances The objective is to design the almost global adaptive asymptotical controllers in probability Uo and u1 for th...This paper deals with nonholonomic systems in chained form with unknown covariance stochastic disturbances The objective is to design the almost global adaptive asymptotical controllers in probability Uo and u1 for the systems by using discontinuous control. A switching control law Uo is designed to almost globally asymptotically stabilize the state x0 in both the singular Xo（t0）=0 case and the non-singular Xo（to）≠O case. Then the state scaling technique is introduced for the discontinuous feedback into the （x1, x2,…, xn）-subsystem. Thereby, by using backstepping technique the global adaptive asymptotical control law u1 has been presented for （x1, x2, …, xn） -subsystem for both different Uo in non-singular x0 （t0）≠0 case and the singular case X0 （t0）=0. The control algorithm validity is proved by simulation.展开更多
Multi-agent systems(MASs) are ubiquitous in natural and artificial systems. This paper aims to establish the finite-time adaptive consensus criterion for a class of MASs with nonlinear dynamics. Traditionally, the fin...Multi-agent systems(MASs) are ubiquitous in natural and artificial systems. This paper aims to establish the finite-time adaptive consensus criterion for a class of MASs with nonlinear dynamics. Traditionally, the finite-time consensus criterion is often established based on the prior information on Lipschitz constants and the eigenvalues of Laplacian matrix. However, it is difficult to acquire the above prior information for most real-world engineering systems. To overcome the above difficulty, this paper develops the finite-time consensus criteria for a class of MASs with nonlinear dynamics via adaptive technique. In detail, we design the finite-time distributed node-based and edge-based adaptive consensus protocols for a class of MASs with fixed and switching topologies. Numerical simulations are also given to validate the proposed finite-time adaptive consensus criterion.展开更多
基金Supported by the National Natural Science Foundation of China(61333010,21376077,61203157)the Natural Science Foundation of Shanghai(14ZR1421800)State Key Laboratory of Synthetical Automation for Process Industries(PAL-N201404)
文摘An improved nonlinear adaptive switching control method is presented to relax the assumption on the higher order nonlinear terms of a class of discrete-time non-affine nonlinear systems. The proposed control strategy is composed of a linear adaptive controller, a neural network(NN) based nonlinear adaptive controller and a switching mechanism. An incremental model is derived to represent the considered system and an improved robust adaptive law is chosen to update the parameters of the linear adaptive controller. A new performance criterion of the switching mechanism is designed to select the proper controller. Using this control scheme, all the signals in the system are proved to be bounded. Numerical examples verify the effectiveness of the proposed algorithm.
文摘This paper deals with nonholonomic systems in chained form with unknown covariance stochastic disturbances The objective is to design the almost global adaptive asymptotical controllers in probability Uo and u1 for the systems by using discontinuous control. A switching control law Uo is designed to almost globally asymptotically stabilize the state x0 in both the singular Xo（t0）=0 case and the non-singular Xo（to）≠O case. Then the state scaling technique is introduced for the discontinuous feedback into the （x1, x2,…, xn）-subsystem. Thereby, by using backstepping technique the global adaptive asymptotical control law u1 has been presented for （x1, x2, …, xn） -subsystem for both different Uo in non-singular x0 （t0）≠0 case and the singular case X0 （t0）=0. The control algorithm validity is proved by simulation.
基金supported by the National Basic Research Program of China("973"Project)(Grant No.2014CB845302)the National Science and Technology Major Project of China(Grant No.2014ZX10004001-014)the National Natural Science Foundation of China(Grant No.11472290)
文摘Multi-agent systems(MASs) are ubiquitous in natural and artificial systems. This paper aims to establish the finite-time adaptive consensus criterion for a class of MASs with nonlinear dynamics. Traditionally, the finite-time consensus criterion is often established based on the prior information on Lipschitz constants and the eigenvalues of Laplacian matrix. However, it is difficult to acquire the above prior information for most real-world engineering systems. To overcome the above difficulty, this paper develops the finite-time consensus criteria for a class of MASs with nonlinear dynamics via adaptive technique. In detail, we design the finite-time distributed node-based and edge-based adaptive consensus protocols for a class of MASs with fixed and switching topologies. Numerical simulations are also given to validate the proposed finite-time adaptive consensus criterion.
