Ghali Naami, Mohamed Ouahi, Abdelhamid Rabhi, Fernando Tadeo, Dainius Udris
{"title":"On the designing of robust dynamic observers for continuous-time systems in T-S fuzzy model with interval time-varying delays","authors":"Ghali Naami, Mohamed Ouahi, Abdelhamid Rabhi, Fernando Tadeo, Dainius Udris","doi":"10.1177/09596518241262059","DOIUrl":"https://doi.org/10.1177/09596518241262059","url":null,"abstract":"Delay-dependent robust [Formula: see text] fuzzy dynamic observers (HFDOs) for continuous-time T-S fuzzy systems with interval time-varying delays, are studied here, considering the presence of exogenous disturbances. The proposed approach involves the creation of an augmented Lyapunov-Krasovskii functional through the utilization of an integral inequality based on the Wirtinger-based integral inequality and the extended reciprocally convex combination inequality. These techniques lead to delay-dependent conditions that are less conservative and that can be represented as a set of linear matrix inequalities, solvable using the YALMIP toolbox. Two detailed examples are presented at the end of the paper to illustrate the overall effectiveness of the proposed observer, which performs better than existing observers such as the [Formula: see text] fuzzy proportional observer (HFPO) and the [Formula: see text] fuzzy proportional-integral observer (HFPIO).","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2024-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141781595","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Observer-based adaptive fuzzy control of stabilized platform in rotary steerable system with input saturation and output constraint","authors":"Min Wan, Jiaru Song, Guorong Wang","doi":"10.1177/09596518241256144","DOIUrl":"https://doi.org/10.1177/09596518241256144","url":null,"abstract":"This paper explores the control strategy for toolface tracking in the stabilized platform of a rotary steerable system, considering both input saturation and output constraint. To mitigate the impact of unknown friction torque and modeling error on the stabilized platform, we propose an adaptive fuzzy backstepping control approach. A fuzzy state observer is specifically devised to handle the uncertain state arising from unknown friction torque and modeling errors. Introducing an auxiliary system effectively compensates for input saturation, and the resolution of the output error constraint is achieved through the construction of a barrier Lyapunov function. Furthermore, employing the Lyapunov method establishes that all signals in the entire closed-loop control system are semi-globally uniformly ultimately bounded. Simulation results confirm the efficacy of the proposed control methodology.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2024-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141781598","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Fixed-time disturbance observer-based funnel control for controllable excitation linear synchronous motor with state constraints","authors":"Zelai Xu, Yipeng Lan, Cheng Lei","doi":"10.1177/09596518241256701","DOIUrl":"https://doi.org/10.1177/09596518241256701","url":null,"abstract":"This paper proposes a fixed-time disturbance observer-based funnel control method for a controllable excitation linear synchronous motor (CELSM) with state constraints and disturbances. This approach simultaneously resolves the issues of prescribed tracking performance and state constraints, taking into account disturbances. We employ a fixed-time disturbance observer (DO) to estimate both matched and mismatched disturbances. Additionally, we design a modified funnel variable to confine the tracking error within a prescribed region and the singularity problem is avoided. An integral barrier Lyapunov function (iBLF) is utilized to directly tackle state constraints. Furthermore, we employ a fixed-time differentiator (FTD) to address the “explosion of complexity” issue in backstepping control. Theoretical analysis demonstrates that the tracking error asymptotically converges to the origin within a prescribed region while satisfying state constraints. Finally, simulation results demonstrate the efficacy of the proposed method.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2024-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141781684","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Wenyi Tan, Yan Zhang, Qiang Zhang, Yancai Hu, Yang Liu
{"title":"Adaptive trajectory tracking control of underwater salvage vehicle based on full-state constraint","authors":"Wenyi Tan, Yan Zhang, Qiang Zhang, Yancai Hu, Yang Liu","doi":"10.1177/09596518241262503","DOIUrl":"https://doi.org/10.1177/09596518241262503","url":null,"abstract":"Aiming at the trajectory tracking control problem of underwater salvage vehicle affected by dynamic uncertainty and external disturbance, a trajectory tracking control scheme based on full-state constraint is proposed. Firstly, radial basis function neural network (RBFNN) and adaptive virtual parameter learning method are combined to compensate dynamic uncertainty and external interference. Then barrier Lyapunov function (BLF) is used to prevent the violation of the full-state constraint. The Lyapunov stability theory is used to prove that the proposed control scheme can achieve semi-global uniform boundedness of the closed-loop system. Finally, simulation results further demonstrate its excellent performance. The proposed control scheme has good reference value for the application of the underwater salvage vehicle in practical engineering.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2024-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141781596","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Finite time non-singular terminal synergistic control of hydraulic servo system considering time-varying disturbance","authors":"Xin Zhou, Zhangbao Xu, Xu Yang","doi":"10.1177/09596518241256016","DOIUrl":"https://doi.org/10.1177/09596518241256016","url":null,"abstract":"This paper introduces a novel control strategy combining a hybrid nonlinear disturbance observer with a finite-time synergistic control approach for hydraulic servo systems, focusing on compensating time-varying disturbances and suppresses chattering. Recognizing the critical challenges posed by these disturbances and the chattering phenomenon in hydraulic servo systems, our work offers significant advancements in enhancing system robustness and control precision. Through meticulous classification and handling of matched and unmatched disturbances, the study unveils a dual-channel finite-time disturbance observer capable of simultaneously addressing both disturbance types with high accuracy, particularly focusing on the often overlooked and challenging to observe friction effects. Key contributions include the pioneering integration of cooperative control theory with sliding mode control, employing fractional-order terms to minimize chattering, thereby improving system stability. The experimental evaluation underlines the proposed controller’s superior performance over traditional control strategies, including PID, TSMC, and SMC, under both low and high-frequency operational conditions. Notably, the proposed FTNTSC controller demonstrates exceptional robustness and effectiveness, with significantly lower performance degradation when transitioning from low to high-frequency conditions compared to its counterparts.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2024-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141505448","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Adaptive consensus control of uncertain nonlinear multi-agent systems with communication delays and relative output information","authors":"Mengqi Zhang, Gang Wang, Chaoli Wang","doi":"10.1177/09596518241255161","DOIUrl":"https://doi.org/10.1177/09596518241255161","url":null,"abstract":"This paper explores the challenges of distributed adaptive consensus control problems in nonlinear multi-agent systems with unknown parameters and communication delays. To address these issues, a novel backstepping-based adaptive state feedback control protocol is proposed by utilizing a reference dynamic system. Furthermore, an output-feedback consensus control algorithm incorporating a state observer is introduced. Through the application of Laplace transformation, matrix properties, and graph theory, it is demonstrated that the closed-loop multi-agent system ensures the boundedness of all signals and achieves output consensus, even in the presence of nonuniform communication delays. Numerical simulations on a group of inverted pendulums illustrate the effectiveness of these algorithms.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2024-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141272103","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"An iterative interval estimation approach to nonlinear discrete-time systems","authors":"Tu Zhang, Guobao Zhang, Yongming Huang","doi":"10.1177/09596518241249876","DOIUrl":"https://doi.org/10.1177/09596518241249876","url":null,"abstract":"This paper is devoted to the iterative interval estimation for nonlinear discrete-time systems. To reconstruct the system state, a sequence of iterative observers is established based on the iterative disturbance estimation and measured output. By means of the Lipschitz condition and [Formula: see text] technique, sufficient conditions are built by the Lyapunov function method to make observation errors convergent. Resorting to the zonotope-based reachability analysis, the reachable set of nonlinear terms and observation errors are analyzed such that the state interval can be supplied. The presented approach is validated by a simulation comparison.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2024-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141193413","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Zhongqi Li, Fengzeng Zhu, Ancai Zhang, Guochen Pang
{"title":"Distributed l2−l∞ filtering over wireless sensors based on adaptive event triggering","authors":"Zhongqi Li, Fengzeng Zhu, Ancai Zhang, Guochen Pang","doi":"10.1177/09596518241247864","DOIUrl":"https://doi.org/10.1177/09596518241247864","url":null,"abstract":"This paper investigates the design problem of a set of distributed filters. These adaptive event-triggered (AET) filters have the [Formula: see text] property and are suitable for sensor networks characterized by random measurement data loss and dynamic topology switching. In a distributed filtering network, each local filter estimates the system’s state not only relying on the node’s individual information but also using information from neighboring nodes in the network topology. The adaptive event triggering condition is determined by the combination of the latest release data of the filter itself, the estimated value of the current moment, and the latest release data of the neighboring nodes. The event triggering mechanism adopts a threshold adaptive adjustment scheme, which dynamically changes the threshold parameter according to the filtering error under the premise of guaranteeing the filter performance, thus maximally saving the network communication resources. Initially, we used a binary sequence to describe the random loss of sensor measurements, and a Markov chain is used to describe the switching of the filtering network topology. Secondly, a Lyapunov function is created to examine the [Formula: see text] performance index of the filtering error system and investigate its mean square exponential stability. Subsequently, the distributed filter is formulated, and its parameters are determined using the linear matrix inequality approach. Ultimately, the validity of the proposed method is substantiated through numerical illustrations.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2024-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141102857","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Energy consumption forecast model of CNC machine tools based on support vector regression optimized by improved artificial hummingbird algorithm","authors":"Jidong Du, Yan Wang, Zhicheng Ji","doi":"10.1177/09596518241247861","DOIUrl":"https://doi.org/10.1177/09596518241247861","url":null,"abstract":"With the development of the manufacturing industry, energy consumption is growing rapidly, which makes the energy crisis and environmental problems become more and more serious. CNC machine tools play an essential role and are the primary energy consumption devices in the manufacturing industry. The accurate prediction of machine tool energy consumption can provide support for energy production plans and reduce energy waste. This paper proposes a novel energy consumption prediction model based on support vector regression (SVR) optimized by an improved artificial hummingbird algorithm (IAHA). Firstly, as the artificial hummingbird algorithm (AHA) may easily get trapped in a local optimum, an improved AHA based on chaotic mapping and local backtracking exploitation strategy is proposed. The chaotic mapping is used to initialize individual positions, which is good for maintaining population diversity. The local backtracking exploitation strategy is employed to improve the local optimization ability. The effectiveness and feasibility of the IAHA algorithm have been verified through 12 benchmark functions. Then, the IAHA algorithm is employed to optimize the parameters of the SVR, and the IAHA-SVR energy consumption prediction model is established. Finally, the effectiveness and feasibility of the IAHA-SVR model are verified through a case study.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2024-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141106847","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Bond graph realizations of state space linear time-invariant multivariable descriptions","authors":"René Galindo Orozco","doi":"10.1177/09596518241244817","DOIUrl":"https://doi.org/10.1177/09596518241244817","url":null,"abstract":"Given a state space description of a linear time-invariant multivariable system, a similarity transformation is applied to get a controllability canonical form. This transformation assures a Bond Graph (BG) realization and avoids the use of active bonds. Active or signal bonds do not preserve the continuity of power flows and consequently, energy conservation properties are lost. The state matrix of the system in transformed coordinates contains an antisymmetric matrix associated with the storage field and the rest is associated with the dissipative field. Thus, in general, the dissipative field is implemented with a multiport element, and in order to give physical meaning, the storage field is implemented with one-port elements. The resulting BG model does not have zero-order causal paths, that is, algebraic loops between the dissipative elements. The results are applied to the BG realization of a linear robust multivariable controller that is designed for a two mass system modelled in BG.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2024-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141103715","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}