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

Adaptive Saturated Obstacle Avoidance Trajectory Tracking Control for Euler–Lagrange Systems With Velocity Constraints

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-10-13 DOI: 10.1002/rnc.7677

Longbin Fu, Liwei An

{"title":"Adaptive Saturated Obstacle Avoidance Trajectory Tracking Control for Euler–Lagrange Systems With Velocity Constraints","authors":"Longbin Fu, Liwei An","doi":"10.1002/rnc.7677","DOIUrl":"https://doi.org/10.1002/rnc.7677","url":null,"abstract":"<div>\u0000 \u0000 <p>This article pays attention to the obstacle avoidance trajectory tracking control problem for uncertain Euler–Lagrange (EL) systems subject to velocity constraints and input saturation. The existing obstacle avoidance results do not consider velocity constraints under input saturation, which means that an EL system may not be able to obtain sufficient control inputs to avoid a collision with an obstacle if it has a high speed when approaching the obstacle. Therefore, the velocity constraints in the obstacle avoidance tracking control are considered in this paper. A novel velocity constraint function that depends on the distance between the system and the obstacle is proposed. Integral-multiplicative Lyapunov-barrier functions (LBFs) are constructed and incorporated into the backstepping procedure to design an adaptive fuzzy obstacle avoidance tracking control scheme. Moreover, an auxiliary dynamic system is designed by constructing a bounded nonlinear vector related to an auxiliary variable to compensate for the effects of saturation. Through the Lyapunov method and boundedness analysis for the barrier function, it is shown that the protocol achieves obstacle avoidance for the EL system without violating the velocity constraints inside the obstacle detection region, while also guaranteeing the ultimate uniform boundedness of all the closed-loop signals. Numerical simulations are presented to demonstrate the efficacy of the proposed control strategy.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 2","pages":"689-705"},"PeriodicalIF":3.2,"publicationDate":"2024-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143114643","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

Filter-Based Average Dwell-Time Tuning Approach for Adaptive Prescribed-Time Tracking of Uncertain Switched Nonlinear Systems

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-10-13 DOI: 10.1002/rnc.7661

Seok Gyu Jang, Sung Jin Yoo

{"title":"Filter-Based Average Dwell-Time Tuning Approach for Adaptive Prescribed-Time Tracking of Uncertain Switched Nonlinear Systems","authors":"Seok Gyu Jang, Sung Jin Yoo","doi":"10.1002/rnc.7661","DOIUrl":"https://doi.org/10.1002/rnc.7661","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper addresses neural-network-based adaptive prescribed-time (PT) tracking for uncertain switched systems with unmatched nonlinearities. A continuously switched adaptive tuning mechanism for neural network learning is developed by applying the average dwell time (ADT). First, a neural-network-based PT tracking control design strategy using the ADT-based adaptive tuning mechanism is established for switched nonlinear systems in strict-feedback form. A novel adaptive dynamic surface controller is designed recursively using a practical finite-time scaling function and continuously switched tuning parameters. The switched adaptive tuning laws for neural networks are structured to reduce the conservatism associated with common adaptive laws. Then, a filter-based tuning approach is employed to ensure the continuity of switched adaptive parameters with ADT in the designed controller. The practical PT stability of the closed-loop system is demonstrated based on the boundedness of the adaptive parameters. Building upon this foundation, the proposed PT design approach is extended to control switched pure-feedback nonlinear systems, even in cases where control directions are unspecified. The unknown sign problem encountered with switched virtual and actual control coefficient functions is resolved in the PT control framework. It is shown that the PT performance bound of the tracking error can be reduced by selecting the design parameter of the scaling function. Finally, simulation results illustrate the merits of the proposed theoretical approach.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 2","pages":"536-555"},"PeriodicalIF":3.2,"publicationDate":"2024-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143114644","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

Neuroadaptive Sliding Mode Tracking Control for an Uncertain TQUAV With Unknown Controllers

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-10-13 DOI: 10.1002/rnc.7664

Jing-Jing Xiong, Chen Li

引用次数: 0

Predefined-time impedance control of free-flying flexible-joint space robots for force sensor-less target capturing with prescribed performance

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-10-10 DOI: 10.1002/rnc.7657

Xiutao Gu, Liaoxue Liu, Lu Wang, Jianheng Mao, Yu Guo

{"title":"Predefined-time impedance control of free-flying flexible-joint space robots for force sensor-less target capturing with prescribed performance","authors":"Xiutao Gu, Liaoxue Liu, Lu Wang, Jianheng Mao, Yu Guo","doi":"10.1002/rnc.7657","DOIUrl":"https://doi.org/10.1002/rnc.7657","url":null,"abstract":"<p>Aiming at safely capturing faulty satellites on orbit, a novel predefined-time impedance controller is designed to address the control challenges of free-flying flexible-joint space robots (FFSR) considering output constraint. The FFSR system model is transformed into a singularly perturbed form consisting of both fast and slow subsystems. For the slow subsystem, an adaptive predefined-time sliding mode observer is developed to obtain the contact torque between the end-effector and the target. To mitigate overshooting and enhance tracking precision, a predefined-time prescribed performance function is proposed, and the output constraint issue is reformulated as a coordinate transformation problem involving the trajectory tracking errors. Based on these, a predefined-time impedance controller is designed to achieve the compliant capture of the target. For the fast subsystem, a new non-singular fixed-time controller is proposed to rapidly overcome the vibration of the flexible joints. Stability analysis proves predefined-time stability of the FFSR system and the tracking errors can be maintained within a predefined region. Finally, numerical simulations indicate the feasibility and validity of the presented control strategy.</p>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 2","pages":"452-478"},"PeriodicalIF":3.2,"publicationDate":"2024-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143113907","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-driven event-triggered secure control of uncertain nonlinear cyber-physical systems against multiple attacks 不确定非线性网络物理系统抗多重攻击的采样数据驱动事件触发安全控制

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-10-08 DOI: 10.1002/rnc.7646

Zhiyu Duan, Airong Wei, Xianfu Zhang, Bo Sun

{"title":"Sampled-data-driven event-triggered secure control of uncertain nonlinear cyber-physical systems against multiple attacks","authors":"Zhiyu Duan, Airong Wei, Xianfu Zhang, Bo Sun","doi":"10.1002/rnc.7646","DOIUrl":"https://doi.org/10.1002/rnc.7646","url":null,"abstract":"<p>In this paper, the sampled-data-driven event-triggered secure control is discussed for a class of uncertain nonlinear cyber-physical systems under multiple attacks containing deception attacks and replay attacks. Compared with exisiting research, the studied systems take into account the uncertainty and coupling that may occur in practical situations. Notably, deception attacks impede the application of a gain design approach in control design. To address this issue, an artful state transformation is presented to convert the considered system into an auxiliary system. Based on this, a novel sampled-data-driven attack compensation scheme is devised via the gain design approach, and an event-triggered mechanism is further introduced into the scheme to cancel needless control updates, which successfully ensures state convergence meanwhile resisting the impact of multiple attacks. Particularly, the designed control scheme not only utilizes data efficiently but also avoids Zeno behaviour automatically by judging triggering conditions in sampled points. Finally, the validity of the results is verified through two simulation examples.</p>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 1","pages":"417-432"},"PeriodicalIF":3.2,"publicationDate":"2024-10-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rnc.7646","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142762557","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Disturbance observer based adaptive predefined-time sliding mode control for robot manipulators with uncertainties and disturbances 基于扰动观测器的自适应预定义时间滑模控制，用于具有不确定性和扰动的机器人机械手

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-10-08 DOI: 10.1002/rnc.7628

Guofa Sun, Qingxi Liu, Fengyang Pan, Jiaxin Zheng

{"title":"Disturbance observer based adaptive predefined-time sliding mode control for robot manipulators with uncertainties and disturbances","authors":"Guofa Sun, Qingxi Liu, Fengyang Pan, Jiaxin Zheng","doi":"10.1002/rnc.7628","DOIUrl":"https://doi.org/10.1002/rnc.7628","url":null,"abstract":"<p>This article develops a predefined-time sliding mode control approach for systems with external disturbances and uncertainties through a nonlinear disturbance observer (DO). For addressing predefined-time stabilization problem of robotic manipulator system, a predefined-time sliding mode surface is proposed, ensuring system states converge to origin within a predefined-time once sliding mode surface is attained. Compared to conventional fixed-time and finite-time control strategies, a distinctive advantage of this scheme is that system settling time can be explicitly chosen in advance and independent of system states. To achieve predefined-time performance, a disturbance observer is introduced to generate the disturbance estimate, which can be incorporated into controller to counteract disturbance. To address the systems uncertainty, an adaptive law is employed to estimate the unknown upper boundary of system uncertainties. Finally, the effectiveness and performance of the proposed scheme are illustrated by simulation and experiment.</p>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"34 18","pages":"12349-12374"},"PeriodicalIF":3.2,"publicationDate":"2024-10-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142707629","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

Machine learning model-based optimal tracking control of nonlinear affine systems with safety constraints

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-10-06 DOI: 10.1002/rnc.7659

Yujia Wang, Zhe Wu

引用次数: 0

Adaptive fixed-time prescribed performance regulation for switched stochastic systems subject to time-varying state constraints and input delay 具有时变状态约束和输入延迟的开关随机系统的自适应固定时间规定性能调节

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-10-04 DOI: 10.1002/rnc.7650

Xuemiao Chen, Jing Li, Jian Wu, Chenguang Yang

{"title":"Adaptive fixed-time prescribed performance regulation for switched stochastic systems subject to time-varying state constraints and input delay","authors":"Xuemiao Chen, Jing Li, Jian Wu, Chenguang Yang","doi":"10.1002/rnc.7650","DOIUrl":"https://doi.org/10.1002/rnc.7650","url":null,"abstract":"<p>In this article, the adaptive fixed-time prescribed performance (FTPP) regulation is investigated for a class of time-varying state constrained switched stochastic systems with input delay. The time-varying barrier Lyapunov function and a compensation system are presented, respectively, to deal with the design problems caused by the existence of both time-varying state constraints and input delay. Some radial basis function neural networks are used to approximate unknown functions, and the common Lyapunov function method is displayed to handle the switched signals. Besides, by designing a fixed-time prescribed performance function, the desired adaptive neural controller is constructed. Compared with the existing works for state constrained control problem, the FTPP regulation control scheme is first proposed for time-varying state constrained stochastic switched systems under input delay, and the adaptive dynamic surface control scheme with the nonlinear filter is designed to solve the problem of “explosion of complexity.” Based on the stochastic stability theory, the FTPP of system output is achieved, other system state variables are restricted in the predefined regions, and all signals of this closed-loop system remain bounded in probability. Finally, the availability of the proposed control scheme is illustrated via two simulation examples.</p>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 1","pages":"300-323"},"PeriodicalIF":3.2,"publicationDate":"2024-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142762331","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

Bipartite containment control of multi-agent systems under DoS attacks: an event-triggered scheme

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-10-04 DOI: 10.1002/rnc.7660

Zihan Liu, Hao Zhang, Zhuping Wang

引用次数: 0

A data-driven safety preserving control architecture for constrained cyber-physical systems 约束网络物理系统的数据驱动安全保持控制体系结构

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-10-03 DOI: 10.1002/rnc.7654

Mehran Attar, Walter Lucia

{"title":"A data-driven safety preserving control architecture for constrained cyber-physical systems","authors":"Mehran Attar, Walter Lucia","doi":"10.1002/rnc.7654","DOIUrl":"https://doi.org/10.1002/rnc.7654","url":null,"abstract":"<p>In this article, we propose a data-driven networked control architecture for unknown and constrained cyber-physical systems capable of detecting networked false-data-injection attacks and ensuring plant's safety. In particular, on the controller's side, we design a novel robust anomaly detector that can discover the presence of network attacks using a data-driven outer approximation of the expected robust one-step reachable set. On the other hand, on the plant's side, we design a data-driven safety verification module, which resorts to worst-case arguments to determine if the received control input is safe for the plant's evolution. Whenever necessary, the same module is in charge of replacing the networked controller with a local data-driven set-theoretic model predictive controller, whose objective is to keep the plant's trajectory in a pre-established safe configuration until an attack-free condition is recovered. Numerical simulations involving a two-tank water system illustrate the features and capabilities of the proposed control architecture.</p>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 1","pages":"343-358"},"PeriodicalIF":3.2,"publicationDate":"2024-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rnc.7654","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142762154","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0