International Journal of Robust and Nonlinear Control最新文献

{"title":"Firefly optimized neural network‐based trajectory tracking control of partially unknown multiplayer nonlinear systems","authors":"Qiuye Wu, Bo Zhao, Derong Liu","doi":"10.1002/rnc.7622","DOIUrl":"https://doi.org/10.1002/rnc.7622","url":null,"abstract":"In this paper, we develop an integral reinforcement learning (IRL)‐based trajectory tracking control (TTC) scheme via firefly optimized neural networks for partially unknown multiplayer nonlinear systems. Under the developed TTC scheme, IRL is proved to be equivalent to the classical policy iteration, which guarantees the convergence of the IRL algorithm. By implementing the IRL method, the requirement of the drift dynamics is obviated. The TTC policy for each player is obtained by solving the coupled Hamilton–Jacobi equation with a critic neural network, whose weight vector is tuned by the firefly algorithm. The tracking error of the closed‐loop system is guaranteed to be stable via the Lyapunov's direct method. Simulation results illustrate the effectiveness and superiority of the present IRL‐based TTC scheme, and show that the success rate of system operation is increased by introducing the firefly algorithm.","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"5 1","pages":""},"PeriodicalIF":3.9,"publicationDate":"2024-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142214572","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}

{"title":"Asynchronous sliding‐mode control for two‐dimensional nonlinear Markov jump systems with time‐varying delays","authors":"Mengxin Li, Dan Peng","doi":"10.1002/rnc.7621","DOIUrl":"https://doi.org/10.1002/rnc.7621","url":null,"abstract":"Based on the Roesser model, the asynchronous sliding‐mode control (SMC) problem for two‐dimensional (2‐D) Markov jump systems (MJSs) with time‐varying delays is studied in this article. Since the controller mode cannot always access the system mode, the asynchronous phenomenon between the system mode and the controller mode will be described by the hidden Markov model (HMM). First, under the framework of HMM, the asynchronous 2D‐SMC law is designed based on 2‐D sliding surface function to ensure closed‐loop 2‐D discrete MJSs asymptotic mean square stability and the reachability of sliding regions around specific sliding surfaces. Second, an algorithm for deducing the law of 2‐D asynchronous SMC is presented. Finally, a numerical example is given to verify the effective of the results.","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"63 1","pages":""},"PeriodicalIF":3.9,"publicationDate":"2024-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142226876","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}

{"title":"Geometric optimal filtering for an articulated n‐trailer vehicle with unknown parameters","authors":"Damiano Rigo, Nicola Sansonetto, Riccardo Muradore","doi":"10.1002/rnc.7597","DOIUrl":"https://doi.org/10.1002/rnc.7597","url":null,"abstract":"In this article, we consider the equations of motion for an articulated ‐trailer vehicle with different masses and inertias in the presence of force and torque commands. We design a second‐order optimal filter to estimate the pose of the first vehicle and of the trailers exploiting the Lie group structure and the nonholonomic and hooking constraints. We consider the filtering problem from three different perspectives: in the first masses and inertias are time‐varying and perfectively known, in the second they are known only in the first part of the maneuver, but they are not updated over time. In the last case masses and inertias are considered within the state vector and therefore estimated by the filter. Depending on the needs in real‐life applications (e.g., whether the masses and inertias remain fixed or change during the maneuver and are unknown), the best‐performing filter can be used. The sensing system consists of a GPS‐like configuration (global positioning system) obtained by using an antenna attached to the leading car.","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"32 1","pages":""},"PeriodicalIF":3.9,"publicationDate":"2024-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142214569","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}

{"title":"Distributed bipartite time‐varying formation tracking control with prescribed‐time convergence for heterogeneous Euler‐Lagrange systems","authors":"Huimin Zhong, Tao Han, Bo Xiao, Xi‐Sheng Zhan, Huaicheng Yan","doi":"10.1002/rnc.7620","DOIUrl":"https://doi.org/10.1002/rnc.7620","url":null,"abstract":"This paper focuses on the study of the prescribed‐time bipartite time‐varying formation tracking (BTVFT) problem for multiple heterogeneous Euler‐Lagrange systems (HELSs) with external disturbances under directed signed graphs. Considering the fact that the states of leader cannot be accurately obtained, a set of observers which can estimate the states of the leader within a prescribed time, is firstly established according to the time‐varying function. Subsequently, a prescribed‐time distributed control protocol is proposed by employing a terminal sliding surface, aiming to achieve the BTVFT under digraphs within a prescribed time. The theoretical proof utilizes suitable Lyapunov functions to demonstrate that the control law can guide the state trajectories of each follower to the corresponding terminal sliding surface within a predefined time, thus ensuring the solution to the BTVFT problem of HELSs. Finally, simulation results are provided to validate the effectiveness of the derived findings.","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"6 1","pages":""},"PeriodicalIF":3.9,"publicationDate":"2024-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142227842","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}

{"title":"A guaranteed cost based memory event‐triggered control of networked control systems with multiple disturbances via an interconnected disturbance observer approach","authors":"Tao Huang, Jie Shen, Zhihao Zhang, Mouquan Shen, Hamid Reza Karimi","doi":"10.1002/rnc.7617","DOIUrl":"https://doi.org/10.1002/rnc.7617","url":null,"abstract":"This article is dedicated to event‐triggered anti‐disturbance control of networked control systems via a guaranteed cost triggering scheme. A distribution interconnected observer structure is built to estimate these unknown matched disturbances. A novel event triggered condition is constructed in terms of real‐time cost and averaged functions composed of observer states and the last successfully transmitted one. A composite control scheme is provided by an event‐triggered observer‐based state feedback controller and compensators for the matched disturbances. A sufficient condition in term of linear matrix inequality is supplied to ensure the asymptotic stability of the resultant closed‐loop system. A simulation is carried out to demonstrate the effectiveness of the proposed triggering control strategy.","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"42 1","pages":""},"PeriodicalIF":3.9,"publicationDate":"2024-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142214571","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}

{"title":"Scalable exact output synchronization of discrete‐time multi‐agent systems in the presence of disturbances and measurement noise with known frequencies","authors":"Zhenwei Liu, Meirong Zhang, Ali Saberi, Anton A. Stoorvogel","doi":"10.1002/rnc.7605","DOIUrl":"https://doi.org/10.1002/rnc.7605","url":null,"abstract":"This article aims to achieve scalable exact output and regulated output synchronization for discrete‐time multi‐agent systems in presence of disturbances and measurement noise with known frequencies. Both homogeneous and heterogeneous multi‐agent systems are considered, with parts of agents' states accessible in the latter case. The key contribution of this article is to establish scalable exact synchronization results under disturbances and measurement noise, which is achieved by using distributed protocols that only use information about agent models and no information about the communication network or the number of agents. The validity of the protocol is verified by numerical simulations with arbitrarily chosen number of agents.","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"124 1","pages":""},"PeriodicalIF":3.9,"publicationDate":"2024-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142214570","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}

{"title":"Practical prescribed time tracking control for a class of nonlinear systems with event triggering and output constraints","authors":"Fangling Zou,&nbsp;Kang Wu","doi":"10.1002/rnc.7612","DOIUrl":"10.1002/rnc.7612","url":null,"abstract":"<p>This paper investigates the practical prescribed time tracking for a class of uncertain nonlinear systems based on neural networks and event-triggered control. Introducing a time-varying constraint function transforms the original practical prescribed time-tracking control issue into a tracking error constraint problem. An event-triggered adaptive control has been proposed, which can effectively reduce the communication burden between the controller and the actuator. Using neural networks to approximate unknown nonlinear functions avoids the differentiation of virtual controllers, thereby reducing the computational burden. In addition, users can independently choose preset time and tracking accuracy without changing the control structure, which remains independent of the initial conditions and any design parameters. Finally, the effectiveness of this method is verified through simulation examples.</p>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"34 17","pages":"11786-11803"},"PeriodicalIF":3.2,"publicationDate":"2024-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142226880","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}

{"title":"Command filtered‐based fixed‐time fault‐tolerant tracking control for nonlinear systems","authors":"Yingsen Li, Ming Chen, Kaixiang Peng, Huanqing Wang","doi":"10.1002/rnc.7619","DOIUrl":"https://doi.org/10.1002/rnc.7619","url":null,"abstract":"As for a class of strict‐feedback nonlinear systems with simultaneous sensor and actuator faults, the article focuses on the problem of fixed‐time fault‐tolerant control. Both fixed‐time command filters and a compensation mechanism are utilized to cope with these issues of differential explosion and filter errors. Meanwhile, through the fusion of fixed‐time control, fuzzy logic systems, adaptive control and the backstepping technology, a ‐step design scheme is presented. Our proposed controller ensures the fixed‐time convergence of all the signals in the system even with sensor/actuator faults, and allows the designers to acquire the upper limit value of the fixed convergence time only by tuning the design parameters. And this scheme takes into account rapidity, adaptability and fault tolerance of the system simultaneously. Based on the numerical simulation analysis, it is shown that the better tracking performance can be achieved. So it is concluded that our strategy is effective.","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"2 1","pages":""},"PeriodicalIF":3.9,"publicationDate":"2024-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142214574","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}

{"title":"Quantized output-feedback event-triggered distributed control of switched fractional multi-agent systems subject to input nonlinearities and consensus error constraints","authors":"Sayyed Alireza Malek,&nbsp;Mohammad Shahrokhi,&nbsp;Aboozar Pishro","doi":"10.1002/rnc.7584","DOIUrl":"10.1002/rnc.7584","url":null,"abstract":"<p>In this paper, an adaptive quantized output feedback event-triggered (ET) distributed consensus control approach for an uncertain nonstrict nonlinear switched fractional-order (FO) multi-agent system (SFOMAS) subject to communication limitation is proposed. By relying on the common Lyapunov function method, the switch signals are arbitrarily, and no information regarding the switching instants is required. The consensus error of each agent has its own asymmetric time-varying constraints (ATCs). By adopting the common barrier Lyapunov function (BLF), violation of these constraints is prevented. For each agent, different input nonlinearities can be considered in different modes, and the controllers need no information about their types and characteristics. The communication burden between outputs sensors and the controllers is reduced by applying uniform-logarithmic-hysteresis quantizers to the outputs signals. By using FO filters, which can be considered as a FO version of the dynamic surface control (DSC) method, the so-called explosion of complexity is avoided and the discontinuity problem of FO derivatives of virtual controllers due to outputs quantization is resolved. Observers are designed to estimate the unmeasured states. Also, function approximators (FAs) are employed to approximate uncertainties. A novel lemma that correlates observer states to consensus errors and their constraints, FO filters errors, adaptive parameters and backstepping error surfaces, has been proposed to establish the observer stability. To reduce the communication burden between the controllers and actuators, relative threshold ET mechanisms have been applied to control signals. The combination problem of unmeasured states with the mentioned input constraints for SFOMASs is coped with another novel lemma. Utilizing the common Lyapunov functions (CLFs) and the backstepping technique, virtual controllers, adaptive law and control signal for each agent have been designed and boundedness of closed-loop signals and avoidance of Zeno behavior have been proved. The effectiveness of the proposed control scheme is demonstrated through a simulation study.</p>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"34 17","pages":"11529-11556"},"PeriodicalIF":3.2,"publicationDate":"2024-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142214577","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}

{"title":"Cluster consensus for nonlinear multi‐agent systems restricted with input saturation by event triggered control","authors":"Jun Huang, Mingquan Liu, Jing Xu, Yuan Sun","doi":"10.1002/rnc.7611","DOIUrl":"https://doi.org/10.1002/rnc.7611","url":null,"abstract":"This article studies the cluster consensus problem for the nonlinear multi‐agent systems subject to input saturation under the context of event triggered control. Taking ordinary consensus object as a special case, this article considers the problem of cluster consensus. The event triggered mechanism is designed and the Zeno phenomenon is ruled out. The sufficient conditions of control protocol and range estimation of domain of attraction are formulated by the linear matrix inequalities for the constraints of input saturation and nonlinear terms existed in the system dynamics. Finally, the proposed results are validated by one example in the background of spring damping system.","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"8 1","pages":""},"PeriodicalIF":3.9,"publicationDate":"2024-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142214578","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}