This paper investigates the finite-time H<sub>∞</sub> control problem of switched nonlinear systems via state-dependent switching and state feedback control. Unlike the existing approach based on time-dep...This paper investigates the finite-time H<sub>∞</sub> control problem of switched nonlinear systems via state-dependent switching and state feedback control. Unlike the existing approach based on time-dependent switching strategy, in which the switching instants must be given in advance, the state-dependent switching strategy is used to design switching signals. Based on multiple Lyapunov-like functions method, several criteria for switched nonlinear systems to be finite-time H<sub>∞</sub> control are derived. Finally, a numerical example with simulation results is provided to show the validity of the conclusions.展开更多
The stabilization of a class of switched nonlinear systems is investigated in the paper. The systems concerned are of (generalized) switched Byrnes-Isidori canonical form, which has all switched models in (generali...The stabilization of a class of switched nonlinear systems is investigated in the paper. The systems concerned are of (generalized) switched Byrnes-Isidori canonical form, which has all switched models in (generalized) Byrnes- Isidori canonical form. First, a stability result of switched systems is obtained. Then it is used to solve the stabilization problem of the switched nonlinear control systems. In addition, necessary and sufficient conditions are obtained for a switched affine nonlinear system to be feedback equivalent to (generalized) switched Byrnes-Isidori canonical systems are presented. Finally, as an application the stability of switched lorenz systems is investigated.展开更多
This paper develops a new method to deal with the robust H-infinity control problem for a class of uncertain switched nonlinear systems by using integral sliding mode control.A robust H-infinity integral sliding surfa...This paper develops a new method to deal with the robust H-infinity control problem for a class of uncertain switched nonlinear systems by using integral sliding mode control.A robust H-infinity integral sliding surface is constructed such that the sliding mode is robust stable with a prescribed disturbance attenuation level γ for a class of switching signals with average dwell time.Furthermore,variable structure controllers are designed to maintain the state of switched system on the sliding surface from the initial time.A numerical example is given to illustrate the effectiveness of the proposed method.展开更多
This paper is concerned with the H-infinity control problem for a class of cascade switched nonlinear systems. Each switched system in this class is composed of a zero-mput asymptotically stable nonlinear part, which ...This paper is concerned with the H-infinity control problem for a class of cascade switched nonlinear systems. Each switched system in this class is composed of a zero-mput asymptotically stable nonlinear part, which is also a switched system, and a linearizable part which is controllable. Conditions under which the H-infinity control problem is solvable under arbitrary switching law and under some designed switching law are derived respectively. The nonlinear state feedback and switching law are designed. We exploit the structural characteristics of the switched nonlinear systems to construct common Lyapunov functions for arbitrary switching and to find a single Lyapunov function for designed switching law. The proposed methods do not rely on the solutions of Hamilton-Jacobi inequalities.展开更多
An adaptive robust attitude tracking control law based on switched nonlinear systems is presented for a variable structure near space vehicle (VSNSV) in the presence of uncertainties and disturbances. The adaptive f...An adaptive robust attitude tracking control law based on switched nonlinear systems is presented for a variable structure near space vehicle (VSNSV) in the presence of uncertainties and disturbances. The adaptive fuzzy systems are employed for approximating unknown functions in the flight dynamic model and their parameters are updated online. To improve the flight robust performance, robust controllers with adaptive gains are designed to compensate for the approximation errors and thus they have less design conservation. Moreover, a systematic procedure is developed for the synthesis of adaptive fuzzy dynamic surface control (DSC) approach. According to the common Lyapunov function theory, it is proved that all signals of the closed-loop system are uniformly ultimately bounded by the continuous controller. The simulation results demonstrate the effectiveness and robustness of the proposed control scheme.展开更多
This paper studies the problem of tracking control for a class of switched nonlinear systems with time-varying delay. Based on the average dwell-time and piecewise Lyapunov functional methods, a new exponential stabil...This paper studies the problem of tracking control for a class of switched nonlinear systems with time-varying delay. Based on the average dwell-time and piecewise Lyapunov functional methods, a new exponential stability criterion is obtained for the switched nonlinear systems. The designed output feedback H∞controller can be obtained by solving a set of linear matrix inequalities(LMIs).Moreover, the proposed method does not need that a common Lyapunov function exists for the switched systems, and the switching signal just depends on time. A simulation example is provided to demonstrate the effectiveness of the proposed design scheme.展开更多
The backstepping method is applied to a certain class of switched nonlinear systems to design state feedback controllers and a switching law based on multi-Lyapunov functions.The state feedback controllers and the swi...The backstepping method is applied to a certain class of switched nonlinear systems to design state feedback controllers and a switching law based on multi-Lyapunov functions.The state feedback controllers and the switching law that can stabilize the system are developed.The switched nonlinear systems with uncertainties can be stabi-lized robustly by using the proposed method.Finally,simu-lation results show the effectiveness of the method.展开更多
In this paper,an adaptive neural tracking control scheme for a class of uncertain switched multi-input multi-output(MIMO)pure-feedback nonlinear systems is proposed.The considered MIMO pure-feedback nonlinear system c...In this paper,an adaptive neural tracking control scheme for a class of uncertain switched multi-input multi-output(MIMO)pure-feedback nonlinear systems is proposed.The considered MIMO pure-feedback nonlinear system contains input and output constraints,completely unknown nonlinear functions and time-varying external disturbances.The unknown nonlinear functions representing system uncertainties are identified via radial basis function neural networks(RBFNNs).Then,the Nussbaum function is utilized to deal with the nonlinearity issue caused by the input saturation.To prevent system outputs from violating prescribed constraints,the barrier Lyapunov functions(BLFs)are introduced.Also,a switched disturbance observer is designed to make the time-varying external disturbances estimable.Based on the backstepping recursive design technique and the Lyapunov stability theory,the developed control method is verified applicable to ensure the boundedness of all signals in the closed-loop system and make the system output track given reference signals well.Finally,a numerical simulation is given to demonstrate the effectiveness of the proposed control method.展开更多
This paper focuses on the connectivity-preserving consensus of nonlinear switched multi-agent systems with predefined accuracy.Accordingly,a unified error transformation is adopted to preserve the initial interaction ...This paper focuses on the connectivity-preserving consensus of nonlinear switched multi-agent systems with predefined accuracy.Accordingly,a unified error transformation is adopted to preserve the initial interaction pattern determined by agents’limited communication ranges and initial states.Meanwhile,the so-called congelation of variables method is used to handle the unknown aperiodically time-varying parameters,which are fast-varying in an unknown compact set with only their radii known a priori.In addition,a series of continuously differentiable functions are incorporated into the Lyapunov function to design the controller.Based on Lyapunov stability theory,the proposed control algorithm guarantees that the consensus errors converge with a predefined accuracy,whereas most existing connectivity-preserving results can only ensure uniform ultimate boundedness.Simultaneously,all closed-loop signals remain bounded.Finally,two simulations are provided to validate the effectiveness of the proposed control protocol.展开更多
For nonlinear continuous-time switched systems,the problem ofhowto overcome the controller vulnerability is studied when the saturating actuator is considered.The sufficient condition of non-fragile stabilisation of t...For nonlinear continuous-time switched systems,the problem ofhowto overcome the controller vulnerability is studied when the saturating actuator is considered.The sufficient condition of non-fragile stabilisation of the system is derived by using the method of multiple Lyapunov functions.Then,a switching law and the non-fragile state feedback controllers are designed such that the closed-loop system can be asymptotically stabilised at the origin.Finally,when some scalar parameters of the closed-loop system are given,the design issue of the non-fragile state feedback controllers and the switching law,which aim at enlarging the estimation of domain of attraction for closed-loop system,is transformed into a convex optimisation issue with linear matrix inequalities(LMI)constraints,and a numerical example is given to verify the effectiveness of the proposed method.展开更多
This paper is concerned with the event-triggered L1-gain control of a class of nonlinear positive switched systems.First,an event-triggering condition in the form of 1-norm is presented for the systems.By virtue of th...This paper is concerned with the event-triggered L1-gain control of a class of nonlinear positive switched systems.First,an event-triggering condition in the form of 1-norm is presented for the systems.By virtue of the event-triggering strategy,the original system is transformed into an interval uncertain system.An event-triggered L1-gain controller is designed by decomposing the controller gain matrix into the sum of nonnegative and non-positive components.Under the design controller,the resulting closed-loop systems are positive and L1-gain stable.The obtained approach is developed for the systems subject to input saturation.All presented conditions are solvable in terms of linear programming.Finally,two examples are provided to verify the effectiveness of the design.展开更多
文摘This paper investigates the finite-time H<sub>∞</sub> control problem of switched nonlinear systems via state-dependent switching and state feedback control. Unlike the existing approach based on time-dependent switching strategy, in which the switching instants must be given in advance, the state-dependent switching strategy is used to design switching signals. Based on multiple Lyapunov-like functions method, several criteria for switched nonlinear systems to be finite-time H<sub>∞</sub> control are derived. Finally, a numerical example with simulation results is provided to show the validity of the conclusions.
基金This work is partly supported by the National Natural Science Foundation of China (No. 60274010, 60221301, 60334040, 60228003).
文摘The stabilization of a class of switched nonlinear systems is investigated in the paper. The systems concerned are of (generalized) switched Byrnes-Isidori canonical form, which has all switched models in (generalized) Byrnes- Isidori canonical form. First, a stability result of switched systems is obtained. Then it is used to solve the stabilization problem of the switched nonlinear control systems. In addition, necessary and sufficient conditions are obtained for a switched affine nonlinear system to be feedback equivalent to (generalized) switched Byrnes-Isidori canonical systems are presented. Finally, as an application the stability of switched lorenz systems is investigated.
基金supported by the National Natural Science Foundation of China(No.60874024,60574013)
文摘This paper develops a new method to deal with the robust H-infinity control problem for a class of uncertain switched nonlinear systems by using integral sliding mode control.A robust H-infinity integral sliding surface is constructed such that the sliding mode is robust stable with a prescribed disturbance attenuation level γ for a class of switching signals with average dwell time.Furthermore,variable structure controllers are designed to maintain the state of switched system on the sliding surface from the initial time.A numerical example is given to illustrate the effectiveness of the proposed method.
文摘This paper is concerned with the H-infinity control problem for a class of cascade switched nonlinear systems. Each switched system in this class is composed of a zero-mput asymptotically stable nonlinear part, which is also a switched system, and a linearizable part which is controllable. Conditions under which the H-infinity control problem is solvable under arbitrary switching law and under some designed switching law are derived respectively. The nonlinear state feedback and switching law are designed. We exploit the structural characteristics of the switched nonlinear systems to construct common Lyapunov functions for arbitrary switching and to find a single Lyapunov function for designed switching law. The proposed methods do not rely on the solutions of Hamilton-Jacobi inequalities.
基金co-supported by National Natural Science Foundation of China (Nos. 91116017, 60974106 and 11102080)Funding for Outstanding Doctoral Dissertation in NUAA (No. BCXJ10-04)
文摘An adaptive robust attitude tracking control law based on switched nonlinear systems is presented for a variable structure near space vehicle (VSNSV) in the presence of uncertainties and disturbances. The adaptive fuzzy systems are employed for approximating unknown functions in the flight dynamic model and their parameters are updated online. To improve the flight robust performance, robust controllers with adaptive gains are designed to compensate for the approximation errors and thus they have less design conservation. Moreover, a systematic procedure is developed for the synthesis of adaptive fuzzy dynamic surface control (DSC) approach. According to the common Lyapunov function theory, it is proved that all signals of the closed-loop system are uniformly ultimately bounded by the continuous controller. The simulation results demonstrate the effectiveness and robustness of the proposed control scheme.
基金supported by National Natural Science Foundation of China(Nos.61473082,61273119,and 61104068)Six Talents Peaks Program of Jiangsu Province(No.2014-DZXX-003)the Fundamental Research Funds for the Central Universities(No.2242013R30006)
文摘This paper studies the problem of tracking control for a class of switched nonlinear systems with time-varying delay. Based on the average dwell-time and piecewise Lyapunov functional methods, a new exponential stability criterion is obtained for the switched nonlinear systems. The designed output feedback H∞controller can be obtained by solving a set of linear matrix inequalities(LMIs).Moreover, the proposed method does not need that a common Lyapunov function exists for the switched systems, and the switching signal just depends on time. A simulation example is provided to demonstrate the effectiveness of the proposed design scheme.
基金supported by the Natural Science Foundation of Jiangsu Province of China(No.BK2007210)the Research and Development Foundation from Nanjing University of Science and Technology(No.AB96248).
文摘The backstepping method is applied to a certain class of switched nonlinear systems to design state feedback controllers and a switching law based on multi-Lyapunov functions.The state feedback controllers and the switching law that can stabilize the system are developed.The switched nonlinear systems with uncertainties can be stabi-lized robustly by using the proposed method.Finally,simu-lation results show the effectiveness of the method.
基金partially supported by the National Natural Science Foundation of China under Grant No.62203064the Eduction Committee Liaoning Province,China under Grant No. LJ2019002
文摘In this paper,an adaptive neural tracking control scheme for a class of uncertain switched multi-input multi-output(MIMO)pure-feedback nonlinear systems is proposed.The considered MIMO pure-feedback nonlinear system contains input and output constraints,completely unknown nonlinear functions and time-varying external disturbances.The unknown nonlinear functions representing system uncertainties are identified via radial basis function neural networks(RBFNNs).Then,the Nussbaum function is utilized to deal with the nonlinearity issue caused by the input saturation.To prevent system outputs from violating prescribed constraints,the barrier Lyapunov functions(BLFs)are introduced.Also,a switched disturbance observer is designed to make the time-varying external disturbances estimable.Based on the backstepping recursive design technique and the Lyapunov stability theory,the developed control method is verified applicable to ensure the boundedness of all signals in the closed-loop system and make the system output track given reference signals well.Finally,a numerical simulation is given to demonstrate the effectiveness of the proposed control method.
基金supported by the National Natural Science Foundation of China(Grant No.61673014)。
文摘This paper focuses on the connectivity-preserving consensus of nonlinear switched multi-agent systems with predefined accuracy.Accordingly,a unified error transformation is adopted to preserve the initial interaction pattern determined by agents’limited communication ranges and initial states.Meanwhile,the so-called congelation of variables method is used to handle the unknown aperiodically time-varying parameters,which are fast-varying in an unknown compact set with only their radii known a priori.In addition,a series of continuously differentiable functions are incorporated into the Lyapunov function to design the controller.Based on Lyapunov stability theory,the proposed control algorithm guarantees that the consensus errors converge with a predefined accuracy,whereas most existing connectivity-preserving results can only ensure uniform ultimate boundedness.Simultaneously,all closed-loop signals remain bounded.Finally,two simulations are provided to validate the effectiveness of the proposed control protocol.
基金the Natural Science Foundation of Liaoning Province of China[2020-MS-283]the Scientific Research Fund of Education Department of Liaoning Province of China[L2019016]the Natural Science Foundation of Liaoning Province of China[20180551014].
文摘For nonlinear continuous-time switched systems,the problem ofhowto overcome the controller vulnerability is studied when the saturating actuator is considered.The sufficient condition of non-fragile stabilisation of the system is derived by using the method of multiple Lyapunov functions.Then,a switching law and the non-fragile state feedback controllers are designed such that the closed-loop system can be asymptotically stabilised at the origin.Finally,when some scalar parameters of the closed-loop system are given,the design issue of the non-fragile state feedback controllers and the switching law,which aim at enlarging the estimation of domain of attraction for closed-loop system,is transformed into a convex optimisation issue with linear matrix inequalities(LMI)constraints,and a numerical example is given to verify the effectiveness of the proposed method.
基金supported by the National Nature Science Foundation of China under Grant Nos.61873314and 61703132the Fundamental Research Funds for the Provincial Universities of Zhejiang under Grant No.GK209907299001-007+1 种基金the Natural Science Foundation of Zhejiang Province,China under Grant Nos.LY20F030008 and LY20F030011the Foundation of Zhejiang Provincial Education Department of China under Grant No.Y201942017。
文摘This paper is concerned with the event-triggered L1-gain control of a class of nonlinear positive switched systems.First,an event-triggering condition in the form of 1-norm is presented for the systems.By virtue of the event-triggering strategy,the original system is transformed into an interval uncertain system.An event-triggered L1-gain controller is designed by decomposing the controller gain matrix into the sum of nonnegative and non-positive components.Under the design controller,the resulting closed-loop systems are positive and L1-gain stable.The obtained approach is developed for the systems subject to input saturation.All presented conditions are solvable in terms of linear programming.Finally,two examples are provided to verify the effectiveness of the design.