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

Asynchronous-Based Bipartite Triggered Control for Insecure Multi-Agent Systems 不安全多智能体系统的异步二部触发控制

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2025-04-21 DOI: 10.1002/rnc.8008

Qingcao Zhang, Qing An, Yin Chen, Housheng Su

{"title":"Asynchronous-Based Bipartite Triggered Control for Insecure Multi-Agent Systems","authors":"Qingcao Zhang, Qing An, Yin Chen, Housheng Su","doi":"10.1002/rnc.8008","DOIUrl":"https://doi.org/10.1002/rnc.8008","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper investigates the problem of memory-event-driven bipartite tracking consensus of delayed linear multi-agent systems (MASs) within insecure cooperative and antagonistic interaction networks under scaling attacks. The study aims to address a more challenging and practical scenario of asynchronous communication. An effective approach of asynchronous memory-event-triggered control (METC) is proposed to overcome the security consensus problem of asynchronous scaling attacks on MASs with heterogeneous time-varying input delays, which may result in either communication tampering or communication interruption on the interactive edge between agents. Furthermore, a distributed memory-based delayed controller is designed to ensure exponential bipartite tracking consensus for the closed-loop control system. Additionally, the memory-based control gains under networked attacks are obtained using the Lyapunov functional method and Halanay inequality, and the upper bound for the allowable delay is established in the system stability analysis. Finally, the proposed control strategy and theoretical results are validated by simulation examples.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 13","pages":"5673-5684"},"PeriodicalIF":3.2,"publicationDate":"2025-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144910112","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

Observer-Based Model-Free Iterative Learning for Fault-Tolerant Control of Nonlinear Systems 基于观测器的无模型迭代学习非线性系统容错控制

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2025-04-20 DOI: 10.1002/rnc.7995

Rongrong Wang, Ronghu Chi

{"title":"Observer-Based Model-Free Iterative Learning for Fault-Tolerant Control of Nonlinear Systems","authors":"Rongrong Wang, Ronghu Chi","doi":"10.1002/rnc.7995","DOIUrl":"https://doi.org/10.1002/rnc.7995","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper proposes an observer-based model-free iterative learning fault tolerant control (ObMFilFTC) algorithm for the nonlinear system with disturbances and non-repetitive time-varying actuator faults. First, an original linearization data model (LDM) considering non-repetitive uncertainties is established. Since it contains fault information, this allows the fault information to be estimated using the parameter estimation law. The external disturbances and the non-repetitive time-varying actuator faults constitute the total non-repetitive uncertainties. Next, to deal with non-repetitive uncertainties, we present a novel iterative output observer (ILO) that considers all historical iteration observation errors to estimate inaccurate outputs ruined by non-repetitive uncertainties. With the introduction of ILO, the tracking accuracy and the ability to suppress non-repetitive uncertainties are improved. Additionally, the inclusion of the tracking error integral term in the ILO enhances the convergence speed. Meanwhile, by utilizing the estimated outputs, an observer-based parameter updating law is proposed. Furthermore, we propose an optimal iterative learning control (ILC) algorithm to ensure precise tracking of the desired trajectory. The convergence of the proposed ObMFilFTC method is proofed strictly. The proposed ObMFilFTC method guarantees that the system can follow the desired trajectory despite non-repetitive actuator faults and disturbances in nonlinear systems, relying solely on input/output(I/O) data. Finally, the simulation results further demonstrate the effectiveness of the proposed algorithm.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 13","pages":"5506-5518"},"PeriodicalIF":3.2,"publicationDate":"2025-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144909965","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

Adaptive Super-Twisting Control of Nonminimum Phase Systems Using Generalized Relative Degree Approach 基于广义关联度法的非最小相位系统自适应超扭转控制

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2025-04-20 DOI: 10.1002/rnc.7969

Yuri Shtessel, Franck Plestan

{"title":"Adaptive Super-Twisting Control of Nonminimum Phase Systems Using Generalized Relative Degree Approach","authors":"Yuri Shtessel, Franck Plestan","doi":"10.1002/rnc.7969","DOIUrl":"https://doi.org/10.1002/rnc.7969","url":null,"abstract":"<div>\u0000 \u0000 <p>The output tracking control design in perturbed minimum phase systems using the relative degree (RD) approach is a very effective control paradigm. The RD-based control approach in nonminimum phase (NMP) perturbed systems is challenged by an instability of internal/zero dynamics, attributed to the NMP phenomenon and by the external sufficiently smooth bounded perturbation with unknown bounds. For the first time, the challenge is addressed in this work via employing the <i>generalized</i> relative degree (GRD) approach in concert with adaptive continuous second-order (super-twisting) sliding mode control. The unstable internal/zero dynamics are eliminated, while the unstable dynamically extended control (DEC) emerges once the GRD technique is applied to the perturbed NMP system. The algorithm for generating a bounded solution of the unstable DEC equation is employed. This algorithm is integrated with adaptive super-twisting (ASTW) control for the first time, allowing a robust continuous control design for perturbed NMP systems with not-overestimated control gains. The efficacy of the proposed GRD-based ASTW control design algorithm is demonstrated in controlling a perturbed canard-controlled (NMP) rocket attitude both analytically and via simulation.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5146-5155"},"PeriodicalIF":3.2,"publicationDate":"2025-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624798","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

Learning Rate of the Model Algorithm for Iterative Learning Control in Lung Nodule Surgical Continuum Robot Systems 肺结节连续手术机器人系统迭代学习控制模型算法的学习率

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2025-04-16 DOI: 10.1002/rnc.7998

Yakang Wang, Yuzhe Qian, Weipeng Liu

{"title":"Learning Rate of the Model Algorithm for Iterative Learning Control in Lung Nodule Surgical Continuum Robot Systems","authors":"Yakang Wang, Yuzhe Qian, Weipeng Liu","doi":"10.1002/rnc.7998","DOIUrl":"https://doi.org/10.1002/rnc.7998","url":null,"abstract":"<div>\u0000 \u0000 <p>During surgical operations, the distal end of lung nodule surgical robots is frequently confronted with diverse and intricate disturbances, thereby posing significant challenges for nonlinear control of such continuum robot systems. The continuum robot has a complex nonlinear dynamic model, and the coupling between the joints will affect each other, which makes the joint control of the continuum robot difficult. In addition, the motion of the continuum robot also needs a real-time control strategy. Based on the above analysis, this paper proposes a nonlinear iterative learning method, which is grounded in model algorithmic learning rates, for the control of the distal end of a surgical robot utilized in pulmonary nodule operations. This method not only considers the control error and its higher derivative, but also includes the parameters of the system model. Then, based on the learning rate determined by the model algorithm and the actual control input from the current iteration, the control input for the next iteration is calculated, thereby advancing the iterative learning process. Finally, the stability of the entire nonlinear iterative learning process is proved by the spectral radius condition under the global Lipschitz condition. The effectiveness and robustness of the proposed method have been verified through MATLAB/Simulink, demonstrating high precision and superior performance.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 13","pages":"5541-5554"},"PeriodicalIF":3.2,"publicationDate":"2025-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144909993","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

Prescribed-Time Tracking With Guaranteed Transient Performance for Strict-Feedback Nonlinear Systems 严格反馈非线性系统具有保证暂态性能的规定时间跟踪

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2025-04-16 DOI: 10.1002/rnc.7992

Xiaoyi Tian, Xu Han, Ruicheng Ma, Yuanchao Qu

引用次数: 0

Adaptive Trajectory Tracking Control for Unmanned Airships With Input Saturation and Quantization 输入饱和与量化的无人飞艇自适应轨迹跟踪控制

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2025-04-16 DOI: 10.1002/rnc.7988

Chang Zhang, Jiang Wang, Hongyan Li

引用次数: 0

Task-Space Bearing-Only Formation Control for Networked Robotic Manipulators Without Velocity Measurement 网络机器人无速度测量的任务空间单方位编队控制

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2025-04-16 DOI: 10.1002/rnc.7977

Kun Li, Kai Zhao, Zhi Li, Yongduan Song

{"title":"Task-Space Bearing-Only Formation Control for Networked Robotic Manipulators Without Velocity Measurement","authors":"Kun Li, Kai Zhao, Zhi Li, Yongduan Song","doi":"10.1002/rnc.7977","DOIUrl":"https://doi.org/10.1002/rnc.7977","url":null,"abstract":"<div>\u0000 \u0000 <p>In this article, two novel bearing-only formation control schemes based on the passivity property are proposed for networked robotic manipulators, which are capable of achieving end-effector formation utilizing onboard vision-based sensors. In contrast to the existing methods, the developed strategy exhibits the following features. Firstly, it eliminates the requirement for velocity measurements and communication among manipulators, which improves the flexibility and maneuverability of the system while significantly reducing computational overhead. Secondly, we establish the exponential stability of the desired formation and possess the duality property if the manipulator is non-redundant. Furthermore, by incorporating an approximate differentiation filter to compensate for unavailable velocity measurements, the measurement conditions for formation are further reduced, making the approach applicable to both redundant and non-redundant manipulators. This modification enables manufacturers to eliminate the need for an additional sensor on each manipulator, thereby making the formation system more cost-effective, reducing load, and facilitating implementation. Two simulations involving a group of two-link robotic manipulators are conducted to validate the efficiency of the theoretical results.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5227-5237"},"PeriodicalIF":3.2,"publicationDate":"2025-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624851","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

Model-Free Adaptive Control for Nonlinear Multi-Agent Systems Under Constrained Bit Rate: An Encoding-Decoding Mechanism 约束比特率下非线性多智能体系统的无模型自适应控制：一种编解码机制

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2025-04-16 DOI: 10.1002/rnc.8003

Shanshan Zheng, Shuai Liu, Licheng Wang

引用次数: 0

Observer-Based Two-Terminal Adaptive Event-Triggered Control for Networked T-S Fuzzy Systems 基于观测器的网络化T-S模糊系统双端自适应事件触发控制

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2025-04-16 DOI: 10.1002/rnc.7994

Dong Zhan, Kunpeng Zhang, Tao Zhao, Jiayu Zhao

{"title":"Observer-Based Two-Terminal Adaptive Event-Triggered Control for Networked T-S Fuzzy Systems","authors":"Dong Zhan, Kunpeng Zhang, Tao Zhao, Jiayu Zhao","doi":"10.1002/rnc.7994","DOIUrl":"https://doi.org/10.1002/rnc.7994","url":null,"abstract":"<div>\u0000 \u0000 <p>This article addresses the design of an observer-based controller for networked Takagi-Sugeno (T-S) fuzzy systems with a two-terminal adaptive event-triggered mechanism under imperfect premise matching. First, a novel event-triggered scheme is proposed to optimize the use of limited communication resources. A fuzzy observer with a premise variable different from that of the fuzzy plant is designed using the non-parallel distribution compensation (non-PDC) strategy. Additionally, a non-PDC fuzzy controller with independent fuzzy premises is introduced to enhance the structural flexibility and stabilize the system. To ensure smooth communication within a local network and improve data transmission efficiency, a two-terminal adaptive event-triggered mechanism is proposed, using a valuable time interval division method. Two event-triggered transmitters are placed in the communication channels on both sides of the observer. Second, by defining a Lyapunov functional containing time-varying delays and adaptive event-triggered conditions, a stability criterion is obtained for networked control systems. Third, less conservative membership-function-dependent stability conditions are derived based on linear matrix inequalities, considering the boundary information of membership functions. Finally, the reliability of the proposed scheme is illustrated by the simulation of two practical examples.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 13","pages":"5488-5505"},"PeriodicalIF":3.2,"publicationDate":"2025-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144909994","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

A Novel Adaptive Iterative Learning Control Approach for Nonlinear Output-Constrained Systems With Input Quantization 输入量化非线性输出约束系统的自适应迭代学习控制方法

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2025-04-16 DOI: 10.1002/rnc.8002

Yong Chen, Deqing Huang, Yanhui Zhang, Guang Yang

{"title":"A Novel Adaptive Iterative Learning Control Approach for Nonlinear Output-Constrained Systems With Input Quantization","authors":"Yong Chen, Deqing Huang, Yanhui Zhang, Guang Yang","doi":"10.1002/rnc.8002","DOIUrl":"https://doi.org/10.1002/rnc.8002","url":null,"abstract":"<div>\u0000 \u0000 <p>In practice, the communication bandwidth and physical limitations are the two main categories of threats that the networked control systems may encounter. Therefore, this paper focuses on adaptive iterative learning control (ILC) of nonlinear strict-feedback systems with input quantization and asymmetric output constraint. Through constructing an error transformation mechanism, the original output-constrained control system is converted into the unconstrained form. Subsequently, a novel adaptive ILC algorithm is established by virtue of the command filtered backstepping technique, in which the uncertain terms of Lyapunov function (LF) are decomposed into the parameter compensation components of the controller and the iteration-convergent lumps via the hyperbolic tangent function. Specially, to accommodate the input-related uncertainties brought by quantizer, the devised ILC law adapts a nested structure, thus achieving the estimation of unknown parameters associated with the quantized bias. The convergence of error along the iteration axis is rigorously proven by the composite energy function (CEF). Finally, the proposed approach is applied to two examples, the results of which illustrate the effectiveness of the scheme.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 13","pages":"5583-5599"},"PeriodicalIF":3.2,"publicationDate":"2025-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144909995","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