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Finite-time Prescribed Performance Time-Varying Formation Control for Second-Order Multi-Agent Systems With Non-Strict Feedback Based on a Neural Network Observer 被引量:1
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作者 Chi Ma Dianbiao Dong 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第4期1039-1050,共12页
This paper studies the problem of time-varying formation control with finite-time prescribed performance for nonstrict feedback second-order multi-agent systems with unmeasured states and unknown nonlinearities.To eli... This paper studies the problem of time-varying formation control with finite-time prescribed performance for nonstrict feedback second-order multi-agent systems with unmeasured states and unknown nonlinearities.To eliminate nonlinearities,neural networks are applied to approximate the inherent dynamics of the system.In addition,due to the limitations of the actual working conditions,each follower agent can only obtain the locally measurable partial state information of the leader agent.To address this problem,a neural network state observer based on the leader state information is designed.Then,a finite-time prescribed performance adaptive output feedback control strategy is proposed by restricting the sliding mode surface to a prescribed region,which ensures that the closed-loop system has practical finite-time stability and that formation errors of the multi-agent systems converge to the prescribed performance bound in finite time.Finally,a numerical simulation is provided to demonstrate the practicality and effectiveness of the developed algorithm. 展开更多
关键词 Finite-time control multi-agent systems neural network prescribed performance control time-varying formation control
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Distributed Platooning Control of Automated Vehicles Subject to Replay Attacks Based on Proportional Integral Observers 被引量:1
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作者 Meiling Xie Derui Ding +3 位作者 Xiaohua Ge Qing-Long Han Hongli Dong Yan Song 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第9期1954-1966,共13页
Secure platooning control plays an important role in enhancing the cooperative driving safety of automated vehicles subject to various security vulnerabilities.This paper focuses on the distributed secure control issu... Secure platooning control plays an important role in enhancing the cooperative driving safety of automated vehicles subject to various security vulnerabilities.This paper focuses on the distributed secure control issue of automated vehicles affected by replay attacks.A proportional-integral-observer(PIO)with predetermined forgetting parameters is first constructed to acquire the dynamical information of vehicles.Then,a time-varying parameter and two positive scalars are employed to describe the temporal behavior of replay attacks.In light of such a scheme and the common properties of Laplace matrices,the closed-loop system with PIO-based controllers is transformed into a switched and time-delayed one.Furthermore,some sufficient conditions are derived to achieve the desired platooning performance by the view of the Lyapunov stability theory.The controller gains are analytically determined by resorting to the solution of certain matrix inequalities only dependent on maximum and minimum eigenvalues of communication topologies.Finally,a simulation example is provided to illustrate the effectiveness of the proposed control strategy. 展开更多
关键词 Automated vehicles platooning control proportional-integral-observers(PIOs) replay attacks TIME-DELAYS
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A Novel Disturbance Observer Based Fixed-Time Sliding Mode Control for Robotic Manipulators With Global Fast Convergence
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作者 Dan Zhang Jiabin Hu +2 位作者 Jun Cheng Zheng-Guang Wu Huaicheng Yan 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第3期661-672,共12页
This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO) is designed to deal with th... This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO) is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator systems.Then an adaptive scheme is used and the adaptive FTDO(AFTDO) is developed,so that the priori knowledge of the lumped disturbance is not required.Further,a new non-singular fast terminal sliding mode(NFTSM) surface is designed by using an arctan function,which helps to overcome the singularity problem and enhance the robustness of the system.Based on the estimation of the lumped disturbance by the AFTDO,a fixed-time non-singular fast terminal sliding mode controller(FTNFTSMC)is developed to guarantee the trajectory tracking errors converge to zero within a fixed time.The settling time is independent of the initial state of the system.In addition,the stability of the AFTDO and FTNFTSMC is strictly proved by using Lyapunov method.Finally,the fixed-time NFESM(FTNFTSM) algorithm is validated on a 2-link manipulator and comparisons with other existing sliding mode controllers(SMCs) are performed.The comparative results confirm that the FTNFTSMC has superior control performance. 展开更多
关键词 Disturbance observer(DO) fixed-time non-singular sliding mode control robotic manipulator trajectory tracking
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Observer-Based Adaptive Robust Precision Motion Control of a Multi-Joint Hydraulic Manipulator
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作者 Zheng Chen Shizhao Zhou +3 位作者 Chong Shen Litong Lyu Junhui Zhang Bin Yao 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第5期1213-1226,共14页
Hydraulic manipulators are usually applied in heavy-load and harsh operation tasks.However,when faced with a complex operation,the traditional proportional-integral-derivative(PID)control may not meet requirements for... Hydraulic manipulators are usually applied in heavy-load and harsh operation tasks.However,when faced with a complex operation,the traditional proportional-integral-derivative(PID)control may not meet requirements for high control performance.Model-based full-state-feedback control is an effective alternative,but the states of a hydraulic manipulator are not always available and reliable in practical applications,particularly the joint angular velocity measurement.Considering that it is not suitable to obtain the velocity signal directly from differentiating of position measurement,the low-pass filtering is commonly used,but it will definitely restrict the closed-loop bandwidth of the whole system.To avoid this problem and realize better control performance,this paper proposes a novel observerbased adaptive robust controller(obARC)for a multi-joint hydraulic manipulator subjected to both parametric uncertainties and the lack of accurate velocity measurement.Specifically,a nonlinear adaptive observer is first designed to handle the lack of velocity measurement with the consideration of parametric uncertainties.Then,the adaptive robust control is developed to compensate for the dynamic uncertainties,and the close-loop system robust stability is theoretically proved under the observation and control errors.Finally,comparative experiments are carried out to show that the designed controller can achieve a performance improvement over the traditional methods,specifically yielding better control accuracy owing to the closed-loop bandwidth breakthrough,which is limited by low-pass filtering in fullstate-feedback control. 展开更多
关键词 HANDLE observER FILTERING
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Disturbance Observer-Based Predictive Tracking Control of Uncertain HOFA Cyber-Physical Systems
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作者 Da-Wei Zhang Guo-Ping Liu 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第7期1711-1713,共3页
Dear Editor,In this letter,an output tracking control problem of uncertain cyber-physical systems(CPSs)is considered in the perspective of high-order fully actuated(HOFA)system theory,where a lumped disturbance is use... Dear Editor,In this letter,an output tracking control problem of uncertain cyber-physical systems(CPSs)is considered in the perspective of high-order fully actuated(HOFA)system theory,where a lumped disturbance is used to denote the total uncertainties containing parameters perturbations and external disturbances. 展开更多
关键词 observER UNCERTAIN LETTER
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Equivalence between the internal observability and equation
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作者 LIU Wen-jun TU Zhi-yu 《Applied Mathematics(A Journal of Chinese Universities)》 SCIE CSCD 2024年第1期89-97,共9页
This paper is concerned with a third order in time linear Moore-Gibson-Thompson equation which describes the acoustic velocity potential in ultrasound wave program.Influenced by the work of Kaltenbacher,Lasiecka and M... This paper is concerned with a third order in time linear Moore-Gibson-Thompson equation which describes the acoustic velocity potential in ultrasound wave program.Influenced by the work of Kaltenbacher,Lasiecka and Marchand(Control Cybernet.2011,40:971-988),we establish an observability inequality of the conservative problem,and then discuss the equivalence between the exponential stabilization of a dissipative system and the internal observational inequality of the corresponding conservative system. 展开更多
关键词 Moore-Gibson-Thompson equation internal observability exponential stability
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Observer Based Control for a Class of Systems with Output Deadzone Nonlinearity
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作者 Nizar J. Alkhateeb Hameed K. Ebraheem 《Intelligent Control and Automation》 2024年第3期95-107,共13页
In this paper, a combination of model based adaptive design along with adaptive linear output feedback controller is used to compensate for robotic manipulator with output deadzone nonlinearity. The deadzone dynamics ... In this paper, a combination of model based adaptive design along with adaptive linear output feedback controller is used to compensate for robotic manipulator with output deadzone nonlinearity. The deadzone dynamics are utilized to adaptively estimate the deadzone parameter and a switching function is designed to eliminate the error produced in the adaptive observer dynamics. The overall design of the closed loop system ensures stability in the BIBO criterion. 展开更多
关键词 Adaptive Output observer Deadzone Compensation Robot Manipulator Sliding Mode control
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Reduced-Order Observer-Based LQR Controller Design for Rotary Inverted Pendulum
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作者 Guogang Gao LeiXu +2 位作者 Tianpeng Huang Xuliang Zhao Lihua Huang 《Computer Modeling in Engineering & Sciences》 SCIE EI 2024年第7期305-323,共19页
The Rotary Inverted Pendulum(RIP)is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge.Des... The Rotary Inverted Pendulum(RIP)is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge.Despite the implementation of various control strategies to maintain equilibrium,optimally tuning control gains to effectively mitigate uncertain nonlinearities in system dynamics remains elusive.Existing methods frequently rely on extensive experimental data or the designer’s expertise,presenting a notable drawback.This paper proposes a novel tracking control approach for RIP,utilizing a Linear Quadratic Regulator(LQR)in combination with a reduced-order observer.Initially,the RIP system is mathematically modeled using the Newton-Euler-Lagrange method.Subsequently,a composite controller is devised that integrates an LQR for generating nominal control signals and a reduced-order observer for reconstructing unmeasured states.This approach enhances the controller’s robustness by eliminating differential terms from the observer,thereby attenuating unknown disturbances.Thorough numerical simulations and experimental evaluations demonstrate the system’s capability to maintain balance below50Hz and achieve precise tracking below1.4 rad,validating the effectiveness of the proposed control scheme. 展开更多
关键词 Rotary inverted pendulum(RIP) linear quadratic regulator(LQR) reduced-order observer states estimate
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Target Controllability of Multi-Layer Networks With High-Dimensional Nodes
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作者 Lifu Wang Zhaofei Li +1 位作者 Ge Guo Zhi Kong 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第9期1999-2010,共12页
This paper studies the target controllability of multilayer complex networked systems,in which the nodes are highdimensional linear time invariant(LTI)dynamical systems,and the network topology is directed and weighte... This paper studies the target controllability of multilayer complex networked systems,in which the nodes are highdimensional linear time invariant(LTI)dynamical systems,and the network topology is directed and weighted.The influence of inter-layer couplings on the target controllability of multi-layer networks is discussed.It is found that even if there exists a layer which is not target controllable,the entire multi-layer network can still be target controllable due to the inter-layer couplings.For the multi-layer networks with general structure,a necessary and sufficient condition for target controllability is given by establishing the relationship between uncontrollable subspace and output matrix.By the derived condition,it can be found that the system may be target controllable even if it is not state controllable.On this basis,two corollaries are derived,which clarify the relationship between target controllability,state controllability and output controllability.For the multi-layer networks where the inter-layer couplings are directed chains and directed stars,sufficient conditions for target controllability of networked systems are given,respectively.These conditions are easier to verify than the classic criterion. 展开更多
关键词 High-dimensional nodes inter-layer couplings multi-layer networks target controllability
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Exact controllability of rational expectations model with multiplicative noise and input delay
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作者 Wenjing Wang Juanjuan Xu +1 位作者 Huanshui Zhang Minyue Fu 《Journal of Automation and Intelligence》 2024年第1期19-25,共7页
This paper considers the rational expectations model with multiplicative noise and input delay,where the system dynamics rely on the conditional expectations of future states.The main contribution is to obtain a suffi... This paper considers the rational expectations model with multiplicative noise and input delay,where the system dynamics rely on the conditional expectations of future states.The main contribution is to obtain a sufficient condition for the exact controllability of the rational expectations model.In particular,we derive a sufficient Gramian matrix condition and a rank condition for the delay-free case.The key is the solvability of the backward stochastic difference equations with input delay which is derived from the forward and backward stochastic system. 展开更多
关键词 Rational expectations model Exact controllability Exactly null controllability Multiplicative noise Input delay
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Observer-based dynamic event-triggered control for distributed parameter systems over mobile sensor-plus-actuator networks
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作者 穆文英 庄波 邱芳 《Chinese Physics B》 SCIE EI CAS CSCD 2024年第4期237-243,共7页
We develop a policy of observer-based dynamic event-triggered state feedback control for distributed parameter systems over a mobile sensor-plus-actuator network.It is assumed that the mobile sensing devices that prov... We develop a policy of observer-based dynamic event-triggered state feedback control for distributed parameter systems over a mobile sensor-plus-actuator network.It is assumed that the mobile sensing devices that provide spatially averaged state measurements can be used to improve state estimation in the network.For the purpose of decreasing the update frequency of controller and unnecessary sampled data transmission, an efficient dynamic event-triggered control policy is constructed.In an event-triggered system, when an error signal exceeds a specified time-varying threshold, it indicates the occurrence of a typical event.The global asymptotic stability of the event-triggered closed-loop system and the boundedness of the minimum inter-event time can be guaranteed.Based on the linear quadratic optimal regulator, the actuator selects the optimal displacement only when an event occurs.A simulation example is finally used to verify that the effectiveness of such a control strategy can enhance the system performance. 展开更多
关键词 distributed parameter systems event-triggered control mobile sensors mobile actuators
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Data Quality Control Method of a New Drifting Observation Technology Named Drifting Air-Sea Interface Buoy
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作者 LI Shuo WANG Bin +3 位作者 DENG Zeng’an WU Baoqin ZHU Xiande CHEN Zhaohui 《Journal of Ocean University of China》 CAS CSCD 2024年第1期11-22,共12页
An integral quality control(QC)procedure that integrates various QC methods and considers the design indexes and operational status of the instruments for the observations of drifting air-sea interface buoy was develo... An integral quality control(QC)procedure that integrates various QC methods and considers the design indexes and operational status of the instruments for the observations of drifting air-sea interface buoy was developed in the order of basic in-spection followed by targeted QC.The innovative method of combining a moving Hampel filter and local anomaly detection com-plies with statistical laws and physical processes,which guarantees the QC performance of meteorological variables.Two sets of observation data were used to verify the applicability and effectiveness of the QC procedure,and the effect was evaluated using the observations of the Kuroshio Extension Observatory buoy as the reference.The results showed that the outliers in the time series can be correctly identified and processed,and the quality of data improved significantly.The linear correlation between the quality-controlled observations and the reference increased,and the difference decreased.The correlation coefficient of wind speed before and after QC increased from 0.77 to 0.82,and the maximum absolute error decreased by approximately 2.8ms^(-1).In addition,air pressure and relative humidity were optimized by 10^(-3)–10^(-2) orders of magnitude.For the sea surface temperature,the weight of coefficients of the continuity test algorithm was optimized based on the sea area of data acquisition,which effectively expanded the applicability of the algorithm. 展开更多
关键词 drifting air-sea interface buoy quality control oceanic variables meteorological variables continuity test
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Controllability and observability of networked control systems with time-varying delays 被引量:2
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作者 Li Jinna Zhang Qingling Li Yuan 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2009年第4期800-806,共7页
The controllability and observability of networked control systems are studied. Aiming at the networked control system with time-varying delay, the sufficient and necessary conditions for complete controllability and ... The controllability and observability of networked control systems are studied. Aiming at the networked control system with time-varying delay, the sufficient and necessary conditions for complete controllability and complete observability of the system are presented, respectively. Because of Markov characteristic of the network-induced delay, in terms of stochastic theory, a sufficient and necessary condition for completely mean value controllability of networked control systems is obtained. Further, the conditions that the controllability and observability of networked control systems are equivalent to the initial time-invariant system are given. Controllability and observability realization indexes are also discussed, respectively. The numerical example demonstrates the effectiveness of the proposed theory. 展开更多
关键词 networked control system controllability observability controllability realization index observability realization index.
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The Controllability, Observability, and Stability Analysis of a Class of Composite Systems with Fractional Degree Generalized Frequency Variables 被引量:2
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作者 Cuihong Wang Yafei Zhao YangQuan Chen 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2019年第3期859-864,共6页
This paper is concerned with fundamental properties of a class of composite systems with fractional degree generalized frequency variables, including controllability, observability and stability. Firstly, some necessa... This paper is concerned with fundamental properties of a class of composite systems with fractional degree generalized frequency variables, including controllability, observability and stability. Firstly, some necessary and sufficient conditions are given to guarantee controllability and observability of such composite systems. Then we prove that the stability problem of such composite systems can be reduced to judging whether a fractional degree polynomial is stable. Finally, the stability analysis result is applied in the supervisory control of fractional-order multi-agent systems, and an example is provided to illustrate the effectiveness of the proposed methods. 展开更多
关键词 Composite SYSTEM controllability fractionalorder SYSTEM observability stability
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Exact Controllability and Exact Observability of Descriptor Infinite Dimensional Systems 被引量:1
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作者 Zhaoqiang Ge 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2021年第12期1956-1963,共8页
Necessary and sufficient conditions for the exact controllability and exact observability of a descriptor infinite dimensional system are obtained in the sense of distributional solution.These general results are used... Necessary and sufficient conditions for the exact controllability and exact observability of a descriptor infinite dimensional system are obtained in the sense of distributional solution.These general results are used to examine the exact controllability and exact observability of the Dzektser equation in the theory of seepage and the exact controllability of wave equation. 展开更多
关键词 Descriptor infinite dimensional systems distribut-ional solution exact controllability exact observability
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An identity concerning controllability observability and coprimeness of linear systems and its applications
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作者 Bin ZHOU Guangren DUAN Shenmin SONG 《控制理论与应用(英文版)》 EI 2007年第2期177-183,共7页
It is shown in this paper that any state space realization (A, b, c) of a given transfer function T(s) =β(s)/α(s)with α(s)monic and dim(A)=deg(α(s)),satisfies the identity β(A)=Qe(A,b)Sα Qo(... It is shown in this paper that any state space realization (A, b, c) of a given transfer function T(s) =β(s)/α(s)with α(s)monic and dim(A)=deg(α(s)),satisfies the identity β(A)=Qe(A,b)Sα Qo(A,c)where Qc (A,b)and Qo(A, c) are the controllability matrix and observability matrix of the matrix triple (A, b, c), respectively, and S,~ is a nonsingular symmetric matrix. Such an identity gives a deep relationship between the state space description and the transfer function description of single-input single-output (SISO) linear systems. As a direct conclusion, we arrive at the well-known result that a realization of any transfer function is minimal if and only if the numerator and the denominator of the transfer function is coprime. Such a result is also extended to the SISO descriptor linear system case. As an applications, a complete solution to the commuting matrix equation AX --- XA is proposed and the minimal realization of multi-input multi-output (MIMO) linear system is considered. 展开更多
关键词 controllability observability Resultant matrix Coprime Commuting matrix equation Realization
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Controllability, Observability and Stability for a Class of Fractional-Order Linear Time-Invariant Control Systems
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作者 曾庆山 曹广益 朱新坚 《Journal of Shanghai Jiaotong university(Science)》 EI 2004年第2期20-24,共5页
The definitions of controllability, observability and stability were presented for fractional-order linear systems. Using the Cayley-Hamilton theorem and Mittag-Leffler function in two parameters, the sufficient and n... The definitions of controllability, observability and stability were presented for fractional-order linear systems. Using the Cayley-Hamilton theorem and Mittag-Leffler function in two parameters, the sufficient and necessary conditions of controllability and observability for such systems were derived. In terms of Lyapunov’s stability theory, using the theorems of Mittage-Leffler function in two parameters this paper directly derived the sufficient and necessary condition of stability for such systems. The results obtained are useful for the analysis and synthesis of fractional-order linear control systems. 展开更多
关键词 fractional calculus fractional-order linear time-invariant systems controllability observability STABILITY
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Controllability and Observability of 2-DOF Permanent Magnet Maglev System with Linear Control
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作者 CUITian-shi OKakoichi DONGGui-ju 《Journal of Northeast Agricultural University(English Edition)》 CAS 2005年第1期79-82,共4页
A new type of 2-DOF(degree of freedom) magnetic levitation system for multi-DOF levitation is proposed. In this system, the force of permanent magnets are used for levitation and controlled by adjusting the reluctance... A new type of 2-DOF(degree of freedom) magnetic levitation system for multi-DOF levitation is proposed. In this system, the force of permanent magnets are used for levitation and controlled by adjusting the reluctance of the magnetic circuit. Using permanent magnets, the feature of this system is effective for saving energy and avoiding heat generation. First, the principle of the levitation system and typical reluctance control methods are described. Second, an experimental device based on the principle is introduced. Finally, the feasibility of this system is considered from linear control theory. 展开更多
关键词 permanent magnet magnetic levitation system linear control 2-DOF
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Research on the stability, controllability and observability for fractional order LTI systems
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作者 王振滨 曹广益 朱新坚 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2006年第5期580-583,共4页
The state space representations of fractional order linear time- invariant(LTI) systems are introduced, and their solution formulas are deduced hy means of Laplace transform. The stability condition of fractional or... The state space representations of fractional order linear time- invariant(LTI) systems are introduced, and their solution formulas are deduced hy means of Laplace transform. The stability condition of fractional order LTI systems is given, and its proof is deduced by means of using linear non - singularity transform and the derivative property of Mittag-Leffler function. The controllability condition of fractional m'der LTI systems is given, and its proof is deduced by means of using its characteristic polynomial and the Cayley-Hamilton theorem. The observability condition of fractional order LTI systems is given, and its proof is deduced by means of their solution formulas. Finally an example is given to prove the correctness of the stability, controllability, and observability conditions mentioned above, s are deduced by means of Laplace transform. Their stability, controllability and observability conditions are given as well as their proofs. 展开更多
关键词 fractional calculus fractional order system STABILITY eontrollability observability
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WELL-POSEDNESS AND CONTROLLABILITY AND OBSERVABILITY OF A COUPLED VIBRATING SYSTEM
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作者 徐艳琴 胡顺菊 《Acta Mathematica Scientia》 SCIE CSCD 1994年第S1期64-72,共9页
In this paper, we derive a new description form of coupled bending and torsionalvibrating system with boundary control and observation through Green's formula and provethat it is equivalent to the original form. O... In this paper, we derive a new description form of coupled bending and torsionalvibrating system with boundary control and observation through Green's formula and provethat it is equivalent to the original form. On the basis of this. we prove the control system iswell-posed in time and frequency domain and completely controllable and observable. 展开更多
关键词 Coupled bending and torsional vibrating system Boundary control and obsevation ball-posedness
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