International Journal of Robust and Nonlinear Control最新文献_第5页

Sliding Mode Control With Adaptive Quantizer's Parameters for Markov Jump Systems Under DoS Attacks DoS攻击下马尔可夫跳跃系统的自适应量化参数滑模控制

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2025-03-28 DOI: 10.1002/rnc.7941

Xintong Xie, Bei Chen

{"title":"Sliding Mode Control With Adaptive Quantizer's Parameters for Markov Jump Systems Under DoS Attacks","authors":"Xintong Xie, Bei Chen","doi":"10.1002/rnc.7941","DOIUrl":"https://doi.org/10.1002/rnc.7941","url":null,"abstract":"<div>\u0000 \u0000 <p>Under the digital communication channel, signal quantization will complicate the design and analysis of controlled systems due to quantization errors. In most of the existing work, the controller design only focuses on the robustness of the controlled system, that is, the performance of the system in the presence of quantization errors, without considering whether the effects of the quantization process can be eliminated, which leads to conservatism and limits the improvement of control performance. Therefore, in this work, a sliding mode controller is designed for Markov jump systems subject to denial-of-service attacks, without considering quantization. Then, under the quantization case, the same control performance can still be achieved based on the existing sliding mode controller by designing an online adjustment strategy for the quantizer's parameters. Using the Lyapunov theory, the exponential ultimate boundedness of the system and the reachability of the sliding surface are analyzed respectively. Finally, the simulation results illustrate the proposed strategy.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 11","pages":"4686-4700"},"PeriodicalIF":3.2,"publicationDate":"2025-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144300191","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

Switching Anti-Windup Output Tracking Control of Multiagent Systems With Asymmetric Input Constraints 非对称输入约束下多智能体系统的切换反缠绕输出跟踪控制

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2025-03-27 DOI: 10.1002/rnc.7940

Pengyuan Li, Ke Wang, Ying Zhao, Shuanghe Yu

{"title":"Switching Anti-Windup Output Tracking Control of Multiagent Systems With Asymmetric Input Constraints","authors":"Pengyuan Li, Ke Wang, Ying Zhao, Shuanghe Yu","doi":"10.1002/rnc.7940","DOIUrl":"https://doi.org/10.1002/rnc.7940","url":null,"abstract":"<div>\u0000 \u0000 <p>In this article, we consider the stability and performance of anti-windup control for the leader-following output tracking problem of linear multiagent systems (MASs), where each follower is subject to asymmetric input constraint and external disturbance. The MAS with asymmetric constraint is described as a switched MAS with symmetrically saturated input. The anti-windup approach is used to deal with the input saturation in the switched MAS. First, a distributed control protocol in the form of general dynamic output feedback is designed to guarantee that the unconstrained system has a high <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <msub>\u0000 <mrow>\u0000 <mi>L</mi>\u0000 </mrow>\u0000 <mrow>\u0000 <mn>2</mn>\u0000 </mrow>\u0000 </msub>\u0000 </mrow>\u0000 <annotation>$$ {L}_2 $$</annotation>\u0000 </semantics></math> performance. Then, an agent-dependent switching anti-windup compensation is constructed to mitigate the saturation effect on the system performance. Finally, it is shown via a numerical example that the proposed switching anti-windup method is less conservative compared with the existing studies.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 11","pages":"4772-4781"},"PeriodicalIF":3.2,"publicationDate":"2025-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144300288","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

Event-Triggered Robust Control of Two-Time-Scale Systems Based on Differential Game 基于微分对策的双时间尺度系统事件触发鲁棒控制

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2025-03-27 DOI: 10.1002/rnc.7951

Tian-Tian Yu, Yan-Wu Wang, Yan Lei, Zhi-Wei Liu

引用次数: 0

Aperiodic Sampled-Data-Based Resilient Control for a Class of Switched Nonlinear Systems Against Denial-Of-Service Attacks 一类切换非线性系统抗拒绝服务攻击的非周期采样数据弹性控制

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2025-03-27 DOI: 10.1002/rnc.7944

Chunyan Wang, Xinrong Fan, Yifan Fu

{"title":"Aperiodic Sampled-Data-Based Resilient Control for a Class of Switched Nonlinear Systems Against Denial-Of-Service Attacks","authors":"Chunyan Wang, Xinrong Fan, Yifan Fu","doi":"10.1002/rnc.7944","DOIUrl":"https://doi.org/10.1002/rnc.7944","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper investigates an aperiodic sampled-data-based resilient control problem for a class of non-strict feedback switched systems under denial-of-service (DoS) attacks. If the output values can be available only at the sampling instants, such incomplete information will make the variable non-differentiable and increase the risk of asynchronous operation for switched systems. Moreover, it will become more serious if DoS attacks destroy both the switching and output signals. To address these challenges, a novel aperiodic sampling rule is designed. Based on the assigned sampling rule, a sampled-data observer and an adaptive resilient controller are constructed, which not only reduce the dual-channel transmission burden, eliminate the trouble of output being not-differentiable, but also overcome the adverse impact of DoS attacks. What's more, the proposed sampling rule and the control strategy, relating to the switching signal, highlight the characteristics of each subsystem. The common Lyapunov stability theory can ensure all the variables of the considered closed-loop switched systems are bounded under arbitrary switching. Finally, the simulation results of two examples are given to verify the effectiveness of the proposed method.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 11","pages":"4809-4825"},"PeriodicalIF":3.2,"publicationDate":"2025-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144300287","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 Fixed-Time Stability Theorem and Its Application to Nonlinear Manipulator Trajectory Tracking Control 一种新的固定时间稳定性定理及其在非线性机械臂轨迹跟踪控制中的应用

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2025-03-27 DOI: 10.1002/rnc.7935

Xin Zhang, Ran Shi

{"title":"A Novel Fixed-Time Stability Theorem and Its Application to Nonlinear Manipulator Trajectory Tracking Control","authors":"Xin Zhang, Ran Shi","doi":"10.1002/rnc.7935","DOIUrl":"https://doi.org/10.1002/rnc.7935","url":null,"abstract":"<div>\u0000 \u0000 <p>An adaptive fixed-time robust trajectory tracking control method is developed for the control problem of nonlinear robotic manipulator systems under friction and external disturbances. First, a novel fast fixed-time stable system is presented by combining the fixed-time stability theory. Second, based on this fixed-time stable system, a new fixed-time sliding mode (FTSM) surface and reaching law are proposed to achieve accurate trajectory tracking accuracy. At the same time, a faster convergence velocity can be achieved no matter whether the system state is near or far from the origin. The theoretical analysis gives the upper bound of the convergence time of the sliding mode (SM) surface. Then, the adaptive law is designed to overcome the problem of the unknown upper bound of the composite perturbation, and a rigorous theory analyzes the stability of the control method to prove that the system state convergence time is independent of the initial conditions of the system and can reach near the zero point within a fixed time upper bound. Finally, the proposed control scheme is simulated and compared with different control schemes to verify its effectiveness.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 11","pages":"4712-4723"},"PeriodicalIF":3.2,"publicationDate":"2025-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144300374","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

RBFNN-Based Parameter Adaptive Sliding Mode Control for an Uncertain TQUAV With Time-Varying Mass 基于rbfnn的不确定时变质量TQUAV参数自适应滑模控制

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2025-03-25 DOI: 10.1002/rnc.7932

Jing-Jing Xiong, Yin Chen

{"title":"RBFNN-Based Parameter Adaptive Sliding Mode Control for an Uncertain TQUAV With Time-Varying Mass","authors":"Jing-Jing Xiong, Yin Chen","doi":"10.1002/rnc.7932","DOIUrl":"https://doi.org/10.1002/rnc.7932","url":null,"abstract":"<div>\u0000 \u0000 <p>In this article, a parameter adaptive sliding mode control strategy, which is based on the radial basis function neural network (RBFNN), is proposed for the trajectory tracking of an uncertain tilting quadrotor unmanned aerial vehicle (TQUAV) with time-varying mass. In this strategy, the complex uncertainties and external disturbances are considered and lumped as total disturbance terms in each channel, which can be more conveniently estimated by utilizing the RBFNN for the feedforward compensation during the controller design. Moreover, the adaptive adjustment mechanism of sliding mode manifold parameters is further explored, in which their adaptive laws can avoid monotonically increased gains. To deal with the inherent approximation errors derived from the RBFNN and the concerned time-varying mass, the parameter adaptive control method is employed, such that the impact on the evolution of the closed-loop system can be eliminated. Finally, the superior performance of the proposed control strategy can be sufficiently validated by the Lyapunov stability theory and comparative simulation results.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 11","pages":"4658-4668"},"PeriodicalIF":3.2,"publicationDate":"2025-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144300112","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 Bipartite Consensus Tracking Control for Non-Affine Multiagent Systems Under Actuation Faults 驱动故障下非仿射多智能体系统的实用规定时间二部一致跟踪控制

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2025-03-25 DOI: 10.1002/rnc.7942

Xingyi Chen, Yujuan Wang, Ziguo Liu, Zheng Zhou, Qing Chen

{"title":"Practical Prescribed-Time Bipartite Consensus Tracking Control for Non-Affine Multiagent Systems Under Actuation Faults","authors":"Xingyi Chen, Yujuan Wang, Ziguo Liu, Zheng Zhou, Qing Chen","doi":"10.1002/rnc.7942","DOIUrl":"https://doi.org/10.1002/rnc.7942","url":null,"abstract":"<div>\u0000 \u0000 <p>In this paper, the practical prescribed-time bipartite consensus tracking problem for non-linear multi-agent systems (MASs) subject to actuation faults and non-affine dynamics is considered. A barrier Lyapunov function (BLF) based adaptive fault-tolerant control protocol is proposed, which is fully distributed in that any global information for the Laplacian matrix is not in need. The key to achieving this is to introduce a novel information hierarchical mechanism, which eliminates the requirement for the global information of the Laplacian matrix. The control result is global in that it is uniform in the initial condition. This is achieved by introducing a piecewise and differentiable time-varying scaling function into the controller design, which also allows the settling time to be explicitly pre-specified. In addition, this work relaxes the communication condition to only contain a directed spanning tree, preventing the restrictive requirement that the signed graph must be structurally balanced as imposed in most existing bipartite consensus works. With the developed control protocol, the bipartite consensus error is ensured to converge to a sufficient small compact set, with all the signals in the closed-loop system remaining bounded.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 11","pages":"4782-4795"},"PeriodicalIF":3.2,"publicationDate":"2025-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144300114","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

Event-Triggered Trajectory Tracking Control for Quadrotor UAVs Subject to External Disturbances 受外界干扰的四旋翼无人机事件触发轨迹跟踪控制

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2025-03-25 DOI: 10.1002/rnc.7933

Peng Zhao, Zean Bao, Xinzhi Liu, Jingyao Zhang, Kaiquan Cai

{"title":"Event-Triggered Trajectory Tracking Control for Quadrotor UAVs Subject to External Disturbances","authors":"Peng Zhao, Zean Bao, Xinzhi Liu, Jingyao Zhang, Kaiquan Cai","doi":"10.1002/rnc.7933","DOIUrl":"https://doi.org/10.1002/rnc.7933","url":null,"abstract":"<div>\u0000 \u0000 <p>This article investigates the trajectory tracking control problem for quadrotor UAVs using the dynamic event-triggered control approach. Unlike existing results, the dynamic event-triggered control strategy proposed in this work ensures that the trajectory tracking error of quadrotor UAVs converges to zero asymptotically for a class of external disturbances. Specifically, an event-triggered mechanism is introduced in the position loop to reduce the resource transmission consumption. To address the non-differentiable nature of the event-triggered signal, a fourth-order linear system model for the position loop is derived, ensuring the existence of a twice-differentiable acceleration reference which is essential for the attitude loop. Subsequently, based on the internal model principle, we develop a class of dynamic event-triggered control strategies with dynamic triggering mechanisms. Furthermore, to handle the challenges posed by the unknown parameters and external perturbations within the attitude-loop subsystem, a robust adaptive dynamic control law is implemented based on the attitude rotation matrix. Rigorous Lyapunov analysis demonstrates that the overall control approach ensures asymptotic stability of the closed-loop system. Finally, we verify the effectiveness and robustness of the controller through numerical simulations.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 11","pages":"4669-4685"},"PeriodicalIF":3.2,"publicationDate":"2025-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144300113","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

Human–Machine Shared Stabilization Control Based on Safe Adaptive Dynamic Programming With Bounded Rationality 基于有限理性安全自适应动态规划的人机共享镇定控制

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2025-03-24 DOI: 10.1002/rnc.7931

Junkai Tan, Jingcheng Wang, Shuangsi Xue, Hui Cao, Huan Li, Zihang Guo

{"title":"Human–Machine Shared Stabilization Control Based on Safe Adaptive Dynamic Programming With Bounded Rationality","authors":"Junkai Tan, Jingcheng Wang, Shuangsi Xue, Hui Cao, Huan Li, Zihang Guo","doi":"10.1002/rnc.7931","DOIUrl":"https://doi.org/10.1002/rnc.7931","url":null,"abstract":"<div>\u0000 \u0000 <p>This article considers the shared control of bounded rational human behavior with cooperative autonomous machines. For the collaboration of humans and machines, it is crucial to ensure the safety of the interactive process due to the involvement of human beings. First, a barrier-function-based state transformation is developed to ensure full state safety constraints. A level-<span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <mi>k</mi>\u0000 </mrow>\u0000 <annotation>$$ k $$</annotation>\u0000 </semantics></math> thinking framework is exploited to obtain bounded rationality. Every single level-<span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <mi>k</mi>\u0000 </mrow>\u0000 <annotation>$$ k $$</annotation>\u0000 </semantics></math> control policy is approximated by using adaptive dynamic programming. Inspired by the theory of human behavior modeling, a probabilistic distribution based on Softmax is utilized to model human behavior, which imitates the uncertainty of human intelligence in the cooperative game. Through the construction of a shared control framework, the control inputs of humans and machines are blended to achieve stabilization safely and efficiently. Finally, simulations are implemented to test the effectiveness of the proposed cooperation architecture. The result demonstrates that full-state asymmetric constraints and stabilization are guaranteed in commonly safety-critical situations, and the shared control framework ensures the safety of the overall system when one of the participants is not safety-aware.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 11","pages":"4638-4657"},"PeriodicalIF":3.2,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144300368","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

Finite-Time-Based Dissipative State Estimation for Discrete-Time Conic-Type Nonlinear Systems With Packet Dropouts Under Round Robin Protocol 轮询协议下具有丢包的离散型非线性系统的有限时间耗散状态估计

IF 3.2 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2025-03-24 DOI: 10.1002/rnc.7934

R. Sakthivel, O. M. Kwon, M. J. Park, R. Sakthivel

{"title":"Finite-Time-Based Dissipative State Estimation for Discrete-Time Conic-Type Nonlinear Systems With Packet Dropouts Under Round Robin Protocol","authors":"R. Sakthivel, O. M. Kwon, M. J. Park, R. Sakthivel","doi":"10.1002/rnc.7934","DOIUrl":"https://doi.org/10.1002/rnc.7934","url":null,"abstract":"<div>\u0000 \u0000 <p>This article explores the finite-time-based state estimation problem of discrete-time conic-type nonlinear systems subject to packet dropouts under round robin protocol (RRP). To avoid data collisions and save network resources, the RRP is implemented to coordinate the simultaneous transmission of signals from the sensor nodes of a fixed circular order, which greatly reduces the total amount of data sent at each time instant. The resilient filter strategy is proposed by taking the effects of the filter gain variations and packet dropouts into account. Then, based on the augmented system model, an adequate condition is attained. Moreover, the resilient filter parameter is obtained such that the conic-type nonlinear systems reach finite-time bounded with strictly <span></span><math>\u0000 <mrow>\u0000 <mo>(</mo>\u0000 <mi>𝒢</mi>\u0000 <mo>,</mo>\u0000 <mi>ℱ</mi>\u0000 <mo>,</mo>\u0000 <mi>𝒵</mi>\u0000 <mo>)</mo>\u0000 <mo>−</mo>\u0000 <mi>δ</mi>\u0000 </mrow></math> dissipative. Ultimately, the efficacy of the developed estimator is demonstrated through two numerical simulations.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 11","pages":"4701-4711"},"PeriodicalIF":3.2,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144300367","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