Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering最新文献

{"title":"On leaderless consensus of incommensurate order multi-agent systems","authors":"Fei Wang, Chuan Zhang, Ning Li, Yongqing Yang","doi":"10.1177/09596518231204053","DOIUrl":"https://doi.org/10.1177/09596518231204053","url":null,"abstract":"This article concerns the leaderless consensus problem of incommensurate-order multi-agent systems. First, a detailed analysis of the consensus between two agents with incommensurate order is shown. From this, one can conclude that consensus behavior exists in such cases. Furthermore, the initial value of the agent with a lower order will decide the consensus state. Second, a general incommensurate order multi-agent system is investigated under the directed ring topology, and the results imply that the consensus behavior also exists in such a topology. At the same time, the initial values of the agent with minimum order will determine the consensus state. Finally, some numerical examples are given to show the effectiveness of the aforementioned theoretical results. In addition, several attempts are given just by simulations when the topology is undirected and connected, and some discussions are conducted in the end.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"54 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135480562","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":"Optimal adaptive fuzzy fault-tolerant control applied on a quadrotor attitude stabilization based on particle swarm optimization","authors":"Abdelhamid Bounemeur, Mohamed Chemachema","doi":"10.1177/09596518231199212","DOIUrl":"https://doi.org/10.1177/09596518231199212","url":null,"abstract":"This article discusses the problem of stabilizing the attitude control of a quadrotor system, which is subject to uncertainty, external disturbances, and sensor and actuator faults. To address these challenges, the control stage employs universal approximators, such as fuzzy systems, which estimate the system’s uncertainties and eliminate nonaffine nonlinear actuator faults. In addition, the particle swarm optimization technique is used to adjust the adaptive parameters and fuzzy initial values. The robust control term is carefully designed to handle approximation errors, time-varying sensors, and external disturbances. To solve the issue of the unavoidable algebraic loop during the actuator approximation phase, a Butterworth low-pass filter is integrated. This approach automatically deals with external disturbances, and no further approximation is necessary. Furthermore, the controller can be reconfigured online to enable fast-fault compensation without requiring a fault detection or isolation unit. To prove the global stability and boundedness of all signals in the closed-loop system, Lyapunov theory is used.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"108 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135726217","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":"Neural network steering control algorithm for autonomous ground vehicles having signal time delay","authors":"Erkin Dinçmen","doi":"10.1177/09596518231199208","DOIUrl":"https://doi.org/10.1177/09596518231199208","url":null,"abstract":"An adaptive neural network–based steering control algorithm is proposed for yaw rate tracking of autonomous ground vehicles with in-vehicle signal time delay. The control system consists of two neural networks: the observer neural network and the controller neural network. The observer neural network adapts itself to the system dynamics during the training phase. Once trained, the observer neural network cooperates with the controller neural network, which constantly adapts itself during the control task. In this way, an adaptive and intelligent control structure is proposed. Through simulation studies, it has been shown that while a proportional-integral-derivative type steering controller fails to perform its control task in case of steering signal delay, the proposed control algorithm manages to adapt itself according to the control problem and achieves reference yaw rate tracking. The robustness of the control algorithm according to the signal delay magnitude has been demonstrated by simulation studies. A rigorous Lyapunov stability analysis of the control algorithm is also presented.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"16 7","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135820975","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":"Predictive control scheme by integrating event-triggered mechanism and disturbance observer under actuator failure and sensor fault","authors":"Atanu Panda, Narayani Thirunavukarasu, Rames C Panda","doi":"10.1177/09596518231204725","DOIUrl":"https://doi.org/10.1177/09596518231204725","url":null,"abstract":"Liquid-level control in an interacting storage-tank system exhibits major challenges due to the effect of interaction and the presence of combustible/flammable liquid as it faces huge threats from the unmeasurable disturbances, irregular geometry and unmodelled dynamics of the process plant. A combination of tanks with multiple geometries may be preferred for storing liquids using common pumps for energy conservation. Continuous improvement of risk assessment, predicting hazardous scenarios and implementation of inherently-safer-control systems ensure process safety and, as a result, ease out the safe operation. From the process analysis, it was observed that the dynamics of the interacting tank are very sensitive to effective parameters like valve coefficient and pump gain. To overcome the loss of inventory or production, we investigate the synthesis of a non-linear model predictive control scheme with an outline of simultaneous state and parameter estimation strategies. This mechanism deals with a stochastic event-trigger cubature Kalman filter scheme to estimate process states while performing servo operations. To mitigate plant uncertainty, reduce the impact of large disturbances and nullify the effect of actuator failure/sensor fault, influential model parameters are estimated simultaneously with the model state(s). Predicted values of the model states/parameters/faults are used to derive an effective control effort. An inferential non-linear model predictive control paradigm is proposed, where the primary variable(s) is (are) measured with the help of measurable secondary state(s). To demonstrate the practical utility and effectiveness of the control framework for safe operation and loss prevention, a complex industrial process (quadrupled tank) is considered for control, where the system dynamics have been structured newly. Realistic simulations such as servo-regulatory compliance and elimination of measurement noise with a state-of-the-art simulator ensures the efficacy of the proposed scheme. The results are analysed further for a comparative study with traditional non-linear model predictive control law. To guarantee convergence of the estimator and stability of the closed-loop controller, the Lyapunov theorem is well blended.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"149 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135870601","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":"Decentralized discrete adaptive sliding mode control for interconnected nonlinear systems","authors":"Aicha Znidi, Khadija Dehri, Ahmed Said Nouri","doi":"10.1177/09596518231204079","DOIUrl":"https://doi.org/10.1177/09596518231204079","url":null,"abstract":"This article presents a study on controlling a class of large-scale systems composed of interconnected subsystems. The systems are represented by discrete block-oriented models with unknown parameters. This article proposes a novel adaptive sliding mode control strategy to address the tracking control problem and minimize the impact of interconnection. This approach leverages the robustness of sliding mode control against unmodeled dynamics and disturbances with the advantages of adaptive control. To adapt the system’s parameters, a recursive parametric estimation algorithm using least-squares techniques is employed. The proposed method offers benefits such as robustness against parameter uncertainties, handling of nonlinearities, improved tracking accuracy, and reduced chattering phenomena. The effectiveness of the method is demonstrated through the evaluation of two simulation examples.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"39 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134908200","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 fuzzy command–filtered control strategy for electro-hydraulic braking systems of winding hoist with prescribed performance","authors":"Hui Xie, Gang Shen, Yu Tang, Xiang Li","doi":"10.1177/09596518231194768","DOIUrl":"https://doi.org/10.1177/09596518231194768","url":null,"abstract":"In the braking control of winding hoisting systems, proper braking strategy is of great significance in reducing the probability of significant hidden dangers and improving the safety and reliability of the system. However, as a typical elastic and variable stiffness system, the winding hoisting systems have large nonlinearity, parameter uncertainties, random disturbances, and so on, which severely restrict the improvement of braking performance. To this end, an adaptive fuzzy command–filtered controller with prescribed performance is developed for electro-hydraulic braking systems of winding hoist in this article. First, the dynamic model of the winding hoisting system is established with consideration of the elasticity of wire rope. Based on the established dynamic model, using the fuzzy logic system, the algebraic loop problem caused by non-strict feed structure is overcome, and the unknown nonlinearities arising from modeling error, parameter uncertainties, and system disturbances are also approximated for the subsequent active unknown nonlinearities compensation. Next, to enhance the convergence rate and guarantee the position tracking error within a prescribed region, a tracking error transformation method based on the prescribed performance function is utilized. Subsequently, the adaptive fuzzy control algorithm is developed with command filters, which can also avoid the complexity explosion issue due to the analytic calculation of the derivatives of stabilizing functions, and the rigorous stability of the close-loop system is proved by the Lyapunov theory. Finally, experimental results are utilized to illustrate the effectiveness of the developed controller.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135351362","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":"Model-based event/self-triggered fixed-time consensus of nonlinear multi-agent systems","authors":"Mingbiao Lv, Jinfeng Gao, Peter X Liu, Yuqing Zhang","doi":"10.1177/09596518231199205","DOIUrl":"https://doi.org/10.1177/09596518231199205","url":null,"abstract":"To address model-based event-triggered fixed-time consensus of nonlinear multi-agent systems with both fixed topology and switching topologies, a novel model-based event-triggered protocol is presented. In the proposed protocol, agents in multi-agent systems update controllers by utilizing estimated state values in the triggered intervals. And for reducing the burdens of bandwidth further, the model-based event-triggered protocol is extended to self-triggered protocol which does not need continuous communication in triggered intervals. It is proven that Zeno behavior is excluded. Our main contributions are giving a novel distributed model-based event-triggered protocol for fixed-time consensus and extending it into a self-triggered protocol. Finally, a couple of simulation examples are provided to verify the effectiveness of the proposed protocols.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134975260","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":"Dynamic event–triggered security control for stochastic partial differential equation systems via a unified pointwise measurement/control strategy","authors":"Mengxin Guo, Xiaona Song","doi":"10.1177/09596518231199211","DOIUrl":"https://doi.org/10.1177/09596518231199211","url":null,"abstract":"This article focuses on the security control for parabolic partial differential equation systems driven by fractional Brownian motion based on a unified pointwise measurement/control strategy. Initially, by employing the Takagi–Sugeno fuzzy rule, nonlinear stochastic systems are transformed into a series of linear subsystems. Then, based on the improved dynamic event-triggered mechanism and pointwise measurements method, a security controller is presented to resist deception attacks. In addition, the Lyapunov direct method and some novel inequalities are used to ensure the considered system is mean-square exponentially stable, and the gain of the point controller is obtained. Finally, an application example is provided to verify the effectiveness of the proposed method.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135591957","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":"Analysis of an actively controlled composite box manipulator without external actuator","authors":"Şefika İ Lök, Levent Malgaca, Mehmet Uyar","doi":"10.1177/09596518231196506","DOIUrl":"https://doi.org/10.1177/09596518231196506","url":null,"abstract":"This study focuses on active vibration control for a single-link composite box manipulator by using a single actuator for driving and control actions. Model extraction and system identification techniques are studied to obtain mathematical models of the manipulator. The state space model is extracted from the finite element model using modal analysis conducted in ANSYS, while the system identification approach is an experimental modeling method using the input and output signals of the system. The input signals are defined as triangular and trapezoidal motion profiles, while the output signals are the acceleration signals of the manipulator. Proportional derivative and positive position feedback controllers are implemented on the obtained mathematical models to reduce residual vibrations. The simulation results are successfully verified by experiments, and uncontrolled/controlled results are evaluated with reduction rates.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135592739","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":"Compensation of friction and stick-slip uncertainties in trajectory tracking control of servo DC machines considering actuation constraints","authors":"MM Ebrahimi, MR Homaeinezhad","doi":"10.1177/09596518231196830","DOIUrl":"https://doi.org/10.1177/09596518231196830","url":null,"abstract":"Nowadays, electric motors are common in many precision instrument industries that require high-precision control. If a suitable model of a servo system is available, accurate results can be obtained using a model-based control algorithm. The DC motor is one of the most widely used systems in precision industries, for which a high-precision controller can be designed using its mathematical model with feedback on position and velocity. In such systems and other rotating systems, it is necessary to consider friction in the control system design. Friction enters the system in the form of resistant force or torque in both static and kinetic states, which causes uncertainty in the dynamic modeling of the system, the stick-slip phenomenon, and creates a deadzone in the actuation system. In this article, considering a switching dynamic model for different states of a system subject to friction which has a saturation limit on the control input and an actuation system dependent on the angular velocity feedback, first, the stable reaching laws in two modes of position control and velocity control for different dynamic model switch modes are defined. Then, the control input that forces the tracking error to follow the corresponding reaching law for each control mode is calculated. In the next step, according to the limitations of the actuation system, such as saturation and deadzone, using the filtering mechanism and optimal search for each control mode, the desired values are filtered and it is guaranteed that the control input will be chosen within the allowed range. Finally, using the optimal switching mode selection mechanism, the optimal control mode is selected and the voltage is calculated as the next step input.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135592753","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}