International Journal of Robust and Nonlinear Control最新文献_第10页

Adaptive fuzzy event-triggered fault-tolerant control for time-varying delay switched nonlinear systems with actuator and sensor failures 针对具有执行器和传感器故障的时变延迟开关非线性系统的自适应模糊事件触发容错控制

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-07-25 DOI: 10.1002/rnc.7560

Fang Wang, Shi Li

引用次数: 0

Dynamic-surface-based adaptive predefined-time control for nonlinear non-affine switched systems with sensor fault 带传感器故障的非线性非参量开关系统的基于动态曲面的自适应预定义时间控制

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-07-25 DOI: 10.1002/rnc.7549

Ke Xu, Huanqing Wang, Peter Xiaoping Liu

引用次数: 0

State‐dependent dynamic tube MPC: A novel tube MPC method with a fuzzy model of model of disturbances 与状态相关的动态管道 MPC：带有扰动模型模糊模型的新型管道 MPC 方法

IF 3.9 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-07-24 DOI: 10.1002/rnc.7558

Filip Surma, Anahita Jamshidnejad

{"title":"State‐dependent dynamic tube MPC: A novel tube MPC method with a fuzzy model of model of disturbances","authors":"Filip Surma, Anahita Jamshidnejad","doi":"10.1002/rnc.7558","DOIUrl":"https://doi.org/10.1002/rnc.7558","url":null,"abstract":"Most real‐world systems are affected by external disturbances, which may be impossible or costly to measure. For instance, when autonomous robots move in dusty environments, the perception of their sensors is disturbed. Moreover, uneven terrains can cause ground robots to deviate from their planned trajectories. Thus, learning the external disturbances and incorporating this knowledge into the future predictions in decision‐making can significantly contribute to improved performance. Our core idea is to learn the external disturbances that vary with the states of the system, and to incorporate this knowledge into a novel formulation for robust tube model predictive control (TMPC). Robust TMPC provides robustness to bounded disturbances considering the known (fixed) upper bound of the disturbances, but it does not consider the dynamics of the disturbances. This can lead to highly conservative solutions. We propose a new dynamic version of robust TMPC (with proven robust stability), called state‐dependent dynamic TMPC (SDD‐TMPC), which incorporates the dynamics of the disturbances into the decision‐making of TMPC. In order to learn the dynamics of the disturbances as a function of the system states, a fuzzy model is proposed. We compare the performance of SDD‐TMPC, MPC, and TMPC via simulations, in designed search‐and‐rescue scenarios. The results show that, while remaining robust to bounded external disturbances, SDD‐TMPC generates less conservative solutions and remains feasible in more cases, compared to TMPC.","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"34 1","pages":""},"PeriodicalIF":3.9,"publicationDate":"2024-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141773391","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Practical prescribed-time tracking control of unknown nonlinear systems: A low-complexity approach 未知非线性系统的实用规定时间跟踪控制：低复杂度方法

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-07-24 DOI: 10.1002/rnc.7555

Haixiu Xie, Jin-Xi Zhang, Yuanwei Jing, Jiqing Chen, Georgi M. Dimirovski

{"title":"Practical prescribed-time tracking control of unknown nonlinear systems: A low-complexity approach","authors":"Haixiu Xie, Jin-Xi Zhang, Yuanwei Jing, Jiqing Chen, Georgi M. Dimirovski","doi":"10.1002/rnc.7555","DOIUrl":"10.1002/rnc.7555","url":null,"abstract":"<p>This article is concerned with the trajectory tracking control problem for the nonlinear systems in the sense of the predefined settling time and accuracy. In contrast with the existing works, we focus on the cases where the system dynamics, its bounding functions, the unmatched disturbances, and the time-varying parameters are totally unknown; the derivatives of the desired trajectory are not required to be available. They significantly challenge the identification and/or approximation-based control solutions. To overcome this obstacle, a novel robust prescribed performance control approach via state feedback is put forward in this article. It not only ensures the natural satisfaction of the specific initial condition but also realizes a full-time performance specification for trajectory tracking. Furthermore, for the case of unmeasured state variables, an output-feedback control approach is further derived by adopting an input-driven filter and conducting trivial changes on the design procedure. Moreover, both approaches exhibit significant simplicity, without the needs for parameter identification, function approximation, disturbance estimation, derivative calculation, or command filtering. Three simulation studies are conducted to clarify and verify the above theoretical findings.</p>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"34 16","pages":"11010-11042"},"PeriodicalIF":3.2,"publicationDate":"2024-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141773569","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Distributed optimal consensus via PI regulation for high‐order nonlinear agents over directed networks 通过有向网络上高阶非线性代理的 PI 调节实现分布式最优共识

IF 3.9 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-07-24 DOI: 10.1002/rnc.7564

Wenqiang Wu, Hongyu Xu, Qingling Wang

引用次数: 0

Interval observer design for unobservable switched nonlinear partial differential equation systems and its application 不可观测开关非线性偏微分方程系统的区间观测器设计及其应用

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-07-23 DOI: 10.1002/rnc.7553

Xiaona Song, Zenglong Peng, Shuai Song, Vladimir Stojanovic

{"title":"Interval observer design for unobservable switched nonlinear partial differential equation systems and its application","authors":"Xiaona Song, Zenglong Peng, Shuai Song, Vladimir Stojanovic","doi":"10.1002/rnc.7553","DOIUrl":"10.1002/rnc.7553","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper designs an interval observer for switched nonlinear partial differential equation (PDE) systems. Initially, persistent dwell-time switching rules are used to model switched PDE systems with fast and slow switching phenomena. Next, for unobservable systems caused by uncertainties, the interval observer for the target PDE systems is proposed by utilizing unknown but bounded information of the initial states, boundary conditions, external disturbances, and measurement noises. Subsequently, by utilizing the estimated state's upper and lower bounds, an interval observer-based control strategy is devised to stabilize the studied systems, and sufficient conditions to ensure the stability of the target systems and the observation error dynamics are provided. Furthermore, the designed interval observer is employed to detect sensor failures in the presence of various uncertainties. Finally, two examples, including the lithium-ion battery's temperature estimation and fault detection, are utilized to demonstrate the effectiveness of the obtained methods.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"34 16","pages":"10990-11009"},"PeriodicalIF":3.2,"publicationDate":"2024-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141773566","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Sampled-data cooperative semi-global robust practical output regulation for nonlinear multi-agent systems with an uncertain leader 具有不确定领导者的非线性多代理系统的采样数据合作半全局稳健实用输出调节

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-07-20 DOI: 10.1002/rnc.7542

Wei Liu, Kaiji Zeng, Yu Liu

引用次数: 0

Robust adaptive optimal trajectory tracking control for underactuated AUVs with position and velocity constraints in three-dimensional space 三维空间中具有位置和速度限制的欠驱动自动潜航器的鲁棒自适应优化轨迹跟踪控制

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-07-20 DOI: 10.1002/rnc.7540

Huibin Gong, Meng Joo Er, Yi Liu

{"title":"Robust adaptive optimal trajectory tracking control for underactuated AUVs with position and velocity constraints in three-dimensional space","authors":"Huibin Gong, Meng Joo Er, Yi Liu","doi":"10.1002/rnc.7540","DOIUrl":"10.1002/rnc.7540","url":null,"abstract":"<p>The safety and optimality of underactuated autonomous underwater vehicles (AUVs) during operations are essential factors to consider. In this context, a three-dimensional robust adaptive optimal trajectory tracking control method under position and velocity constraints, unknown dynamics, and environmental disturbances is proposed. The main features of the method are: (1) The outputs of an underactuated AUV system are redefined to handle the underactuation problem. (2) The system with position and velocity constraints is transformed into an unconstrained system by a nonlinear state-dependent transformation. (3) A critic-identifier architecture is constructed using adaptive dynamic programming and neural networks in a backstepping framework. Specifically, critic networks and weight update laws without requiring initial stability control are designed to solve Hamilton-Jacobi-Bellman equations in kinematic and dynamic subsystems, and optimal virtual and actual control laws are obtained. (4) A neural network identifier is developed to estimate unknown dynamics. Disturbances are overcome by improving the cost function and solving for optimal control of the nominal dynamic subsystem. By stability analysis, tracking errors in the AUV closed-loop system can converge to an arbitrarily small compact set of the origin, and the other signals are uniformly ultimately bounded. Simulation comparisons demonstrate the effectiveness and superiority of the proposed method.</p>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"34 15","pages":"10704-10730"},"PeriodicalIF":3.2,"publicationDate":"2024-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141740103","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Multiple symmetric task control for networked robot systems over switching network topology 通过交换网络拓扑结构实现联网机器人系统的多重对称任务控制

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-07-19 DOI: 10.1002/rnc.7541

Zhaoyan Wang, Hengyu Li, Jun Liu, Yueying Wang, Shaorong Xie, Jun Luo

引用次数: 0

Constrained model predictive control for networked jump systems under denial-of-service attacks and time delays 拒绝服务攻击和时间延迟下网络跳跃系统的受限模型预测控制

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-07-19 DOI: 10.1002/rnc.7529

Li Qiu, Runjie Chen, Shaolie Lin, Xueliang Liu, Marzieh Najariyan

{"title":"Constrained model predictive control for networked jump systems under denial-of-service attacks and time delays","authors":"Li Qiu, Runjie Chen, Shaolie Lin, Xueliang Liu, Marzieh Najariyan","doi":"10.1002/rnc.7529","DOIUrl":"10.1002/rnc.7529","url":null,"abstract":"<p>This article addresses the problem of model predictive control of networked jump systems in the presence of DoS attacks and time delays. In the structural framework of the network predictive control system, we mathematically model the networked jump system by using Markov chains to describe the time delays and a polytope model to describe the jump system phenomenon, considering the properties of DoS attacks and time delays. Based on this, we propose a strategy to lessen the effect of network constraints on the control performance of the system. This strategy involves the corresponding control inputs from the control sequence for real-time active compensation. It includes adjusting the control sequence application length variation based on the duration of the DoS attacks and time delays at each moment. In addition, we demonstrate the recursive feasibility of the control strategy and the global asymptotic stability of the control system from a theoretical perspective through the Lyapunov stability theory. Finally, the effectiveness of the proposed strategy is verified by simulation arithmetic.</p>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"34 15","pages":"10513-10531"},"PeriodicalIF":3.2,"publicationDate":"2024-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141740110","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0