International Journal of Robust and Nonlinear Control最新文献_第2页

Distributed‐filter‐based double event‐triggered formation control for stochastic nonlinear MASs under switching topologies 开关拓扑下随机非线性 MAS 的基于分布式滤波器的双事件触发编队控制

IF 3.9 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-09-12 DOI: 10.1002/rnc.7631

Yonghua Peng, Guohuai Lin, Hongru Ren, Hongyi Li

{"title":"Distributed‐filter‐based double event‐triggered formation control for stochastic nonlinear MASs under switching topologies","authors":"Yonghua Peng, Guohuai Lin, Hongru Ren, Hongyi Li","doi":"10.1002/rnc.7631","DOIUrl":"https://doi.org/10.1002/rnc.7631","url":null,"abstract":"This article investigates a formation control method for stochastic nonlinear multi‐agent systems (MASs) under switching topologies. To reduce the communication bandwidth occupancy, two event‐triggered mechanisms of sensor‐to‐controller and controller‐to‐actuator network channels are proposed. Taking advantage of the neural networks approximation capability, a dynamic high‐gain observer is introduced to estimate unmeasured states and tackle the non‐differentiable issue of triggered output signal. Furthermore, it should be noted that a distributed filter is employed to handle the discontinuous local reference signal resulting from switching topologies. By using discontinuous topology information, the distributed filter generates a differentiable signal to design a virtual controller. Concomitantly, a first‐order filter is implemented to avoid the problem of “explosion of complexity.” Through stability analysis, it is proven that the designed formation controller achieves boundedness in probability for all signals in the stochastic nonlinear MASs. Ultimately, a simulation is performed to confirm the viability of the control approach.","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"20 1","pages":""},"PeriodicalIF":3.9,"publicationDate":"2024-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142214547","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

Design and application of finite‐time tracking control for autonomous ground vehicle affected by external disturbances 受外部干扰影响的自主地面飞行器有限时间跟踪控制的设计与应用

IF 3.9 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-09-12 DOI: 10.1002/rnc.7623

Zongliang Chen, Shuguo Pan, Xinhua Tang, Xiaolin Meng, Wang Gao, Baoguo Yu

{"title":"Design and application of finite‐time tracking control for autonomous ground vehicle affected by external disturbances","authors":"Zongliang Chen, Shuguo Pan, Xinhua Tang, Xiaolin Meng, Wang Gao, Baoguo Yu","doi":"10.1002/rnc.7623","DOIUrl":"https://doi.org/10.1002/rnc.7623","url":null,"abstract":"Path tracking plays a critical role in autonomous driving for autonomous ground vehicle (AGV). However, AGV faces challenges in accurate tracking and chatter reduction due to external disturbances, making it difficult to meet the tracking performance requirements. Currently, sliding mode control (SMC) and disturbances observer are primarily employed for disturbance estimation. However, ensuring finite‐time robust control remains a significant challenge. To ensure rapid convergence of tracking errors and effective disturbance rejection, this paper proposed a novel non‐singular fast terminal sliding mode (NFTSM) control scheme based on finite‐time disturbance observation (FDO). First, a novel NFTSM controller based on AGV dynamic model is developed to achieve fast convergence of tracking errors. Then, to mitigate disturbances effects and suppress chatter, an innovative FDO method is employed. Finally, based on FDO, the NFTSM‐FDO establishes a control scheme that enhances disturbances suppression and accelerates convergence. The simulation and experimental results demonstrate the innovation of the proposed method. Compared with other SMC methods, the results validate the effectiveness and advantages of the proposed approach, exhibiting fast convergence and superior tracking performance.","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"118 1","pages":""},"PeriodicalIF":3.9,"publicationDate":"2024-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142214545","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 new insight on the event‐triggered state feedback control for Markov jump systems 马尔可夫跃迁系统的事件触发状态反馈控制新见解

IF 3.9 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-09-12 DOI: 10.1002/rnc.7632

Yuanhao Zhao, Nannan Rong, Sanbo Ding, Hongchao Li

引用次数: 0

Online actor‐critic learning control with self‐triggered mechanism for nonlinear regulation problems 针对非线性调节问题的具有自触发机制的在线行为批评学习控制

IF 3.9 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-09-12 DOI: 10.1002/rnc.7608

Guilong Liu, Yongliang Yang, Qing Li, Hamidreza Modares

引用次数: 0

Asynchronous event‐triggered control for switched T–S fuzzy systems under dual‐channel hybrid cyber attacks 双通道混合网络攻击下开关 T-S 模糊系统的异步事件触发控制

IF 3.9 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-09-11 DOI: 10.1002/rnc.7629

Xiangtong Tan, Xiehuan Li, Guangdeng Zong

引用次数: 0

Towards optimal spatio‐temporal decomposition of control‐related sum‐of‐squares programs 实现与控制有关的平方和程序的最佳时空分解

IF 3.9 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-09-11 DOI: 10.1002/rnc.7596

Vít Cibulka, Milan Korda, Tomáš Haniš

引用次数: 0

A passive convex optimal control algorithm for teleoperating a redundant robotic arm in minimally invasive surgery 微创手术中远程操作冗余机械臂的被动凸优化控制算法

IF 3.9 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-09-10 DOI: 10.1002/rnc.7613

Nicola Piccinelli, Gianluca Colombo‐Taccani, Riccardo Muradore

{"title":"A passive convex optimal control algorithm for teleoperating a redundant robotic arm in minimally invasive surgery","authors":"Nicola Piccinelli, Gianluca Colombo‐Taccani, Riccardo Muradore","doi":"10.1002/rnc.7613","DOIUrl":"https://doi.org/10.1002/rnc.7613","url":null,"abstract":"In recent years, the remote center of motion (RCM) constraint has moved from purely mechanical to software implementation, enabling the use of serial manipulators in robotic‐assisted minimal invasive surgery. However, ensuring safety with software‐based RCM presents challenges. This article addresses this issue by introducing a novel control algorithm for a 7‐DOF redundant robotic arm, taking into account a software RCM while considering system passivity and kinematic constraints. The algorithm is both a control optimizer and a robot kinematics inversion, enabling precise and dexterous control for various surgical tasks and other control applications. By formulating a quadratic optimization problem under linear constraints, the algorithm guarantees the robotic arm's performance, safety, and stability under communication delay. Experimental validation demonstrates the effectiveness and accuracy of the control algorithm in executing a surgical training task (peg‐and‐ring) during bilateral teleoperation. The results highlight the successful implementation of the RCM constraint, ensuring patient safety and optimizing the manipulation capabilities of the robotic arm.","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"23 1","pages":""},"PeriodicalIF":3.9,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142227834","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

Localized data‐driven consensus control for continuous‐time multi‐agent systems 连续时间多代理系统的局部数据驱动共识控制

IF 3.9 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-09-09 DOI: 10.1002/rnc.7625

Zeze Chang, Zhongkui Li

引用次数: 0

Research on anti‐saturation horizontal vibration model and neural network adaptive integral terminal sliding mode control strategy for high‐speed elevator car system 高速电梯轿厢系统抗饱和水平振动模型及神经网络自适应积分终端滑模控制策略研究

IF 3.9 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-09-06 DOI: 10.1002/rnc.7618

Zichun Zhao, Ruijun Zhang, Xiaolei Su, Shengnan Zhang, Qin He

{"title":"Research on anti‐saturation horizontal vibration model and neural network adaptive integral terminal sliding mode control strategy for high‐speed elevator car system","authors":"Zichun Zhao, Ruijun Zhang, Xiaolei Su, Shengnan Zhang, Qin He","doi":"10.1002/rnc.7618","DOIUrl":"https://doi.org/10.1002/rnc.7618","url":null,"abstract":"A neural network adaptive integral terminal sliding mode control method with input saturation is proposed for the horizontal vibration problem of high‐speed elevator car systems caused by uncertainties such as guideway excitation and shaft piston wind change. First, considering the input saturation problem existing in the elevator control actuator, a class of smooth functions is introduced to approximate the nonlinearity of switching saturation, and an eight‐degree‐of‐freedom asymmetric anti‐saturation nonlinear system model of the high‐speed elevator car is established; second, in order to solve the singularity problem existing in the terminal sliding‐mode control, a nonlinear term is introduced into the sliding‐mode design, and a neural network is utilized for the fitting of the complex unknown function, and the design of the an adaptive integral terminal sliding mode controller (AITSMC), which enables the state variables of the system to achieve finite time convergence and proves the stability of the system by using Lyapunov theory; finally, under the action of two typical guide excitations, the proposed controller is compared with the passive control and adaptive control (AC), and the results show that, after adopting the proposed control method, the vibration acceleration eigenvalue is reduced by more than 60%, which effectively suppresses the horizontal vibration of the car system and verifies the effectiveness of the proposed controller.","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"139 1","pages":""},"PeriodicalIF":3.9,"publicationDate":"2024-09-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142214552","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

Engineering approach to construct robust filter for mismatched nonlinear dynamic systems 构建失配非线性动态系统鲁棒滤波器的工程方法

IF 3.9 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-09-06 DOI: 10.1002/rnc.7615

Alireza Emami, Rui Araújo, Sérgio Cruz, A. Pedro Aguiar

引用次数: 0