IET Control Theory and Applications最新文献

Robust learning-based iterative model predictive control for unknown non-linear systems

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-12-03 DOI: 10.1049/cth2.12764

Wataru Hashimoto, Kazumune Hashimoto, Masako Kishida, Shigemasa Takai

{"title":"Robust learning-based iterative model predictive control for unknown non-linear systems","authors":"Wataru Hashimoto, Kazumune Hashimoto, Masako Kishida, Shigemasa Takai","doi":"10.1049/cth2.12764","DOIUrl":"https://doi.org/10.1049/cth2.12764","url":null,"abstract":"This study presents a learning-based iterative model predictive control (MPC) scheme for unknown (Lipschitz continuous) nonlinear dynamical systems. The proposed method begins by learning the unknown part of the controlled system using a Gaussian process (GP), which helps derive multi-step reachable sets that are guaranteed to encompass the actual system states. At each time step in each iteration, the MPC controller calculates a sequence of control inputs that robustly satisfy state and control constraints, as well as terminal constraints based on the GP-based reachable sets. Then only the first control input is applied to the system. After the iteration, the initial state is reset, and the same procedure is executed with the MPC optimization problem defined by the updated terminal set and cost. As iteration goes on, improvement of the control performance is expected since more data is obtained and the environment is progressively explored. The proposed method provides properties such as recursive feasibility and input to state stability of the goal region under certain assumptions. Moreover, bound on the performance cost in each iteration associated with the implementation of the proposed MPC scheme is also analyzed. The results of the simulation study show that the proposed control scheme can iteratively improve the control performance.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 18","pages":"2540-2554"},"PeriodicalIF":2.2,"publicationDate":"2024-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12764","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142851327","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Linear quadratic control and estimation synthesis for multi-agent systems with application to formation flight 应用于编队飞行的多代理系统的线性二次控制和估计合成

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-12-03 DOI: 10.1049/cth2.12774

Hojin Lee, Chanyong Lee, Jusang Lee, Cheolhyeon Kwon

{"title":"Linear quadratic control and estimation synthesis for multi-agent systems with application to formation flight","authors":"Hojin Lee, Chanyong Lee, Jusang Lee, Cheolhyeon Kwon","doi":"10.1049/cth2.12774","DOIUrl":"https://doi.org/10.1049/cth2.12774","url":null,"abstract":"This paper concerns the optimality problem of distributed linear quadratic control in a linear stochastic multi-agent system (MAS). The main challenge stems from MAS network topology that limits access to information from non-neighbouring agents, imposing structural constraints on the control input space. A distributed control-estimation synthesis is proposed which circumvents this issue by integrating distributed estimation for each agent into distributed control law. Based on the agents' state estimate information, the distributed control law allows each agent to interact with non-neighbouring agents, thereby relaxing the structural constraint. Then, the primal optimal distributed control problem is recast to the joint distributed control-estimation problem whose solution can be obtained through the iterative optimization procedure. The stability of the proposed method is verified and the practical effectiveness is supported by numerical simulations and real-world experiments with multi-quadrotor formation flight.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 18","pages":"2568-2582"},"PeriodicalIF":2.2,"publicationDate":"2024-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12774","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142860059","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Interval compression-based model-free control algorithm for reducing actuator execution frequency

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-12-02 DOI: 10.1049/cth2.12775

Yitong Zhou, Jing Chang, Weisheng Chen, Hao Dai

引用次数: 0

Prescribed-time event-triggered formation control of heterogeneous multi-agent system under actuator faults and external disturbances

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-12-02 DOI: 10.1049/cth2.12748

Leyi Zheng, Yimin Zhou

{"title":"Prescribed-time event-triggered formation control of heterogeneous multi-agent system under actuator faults and external disturbances","authors":"Leyi Zheng, Yimin Zhou","doi":"10.1049/cth2.12748","DOIUrl":"https://doi.org/10.1049/cth2.12748","url":null,"abstract":"In this article, the problem of the prescribed-time formation control for the heterogeneous multi-agent systems (MASs) under actuator faults and external disturbances with sampling-data settings is discussed. A sufficient condition for the MASs to globally converge to a bounded neighborhood within a prescribed time is given, which can ensure the formation control performance of the MASs with actuator faults. Further, an event-triggered communication mechanism based on the sampled data is designed to reduce the communication burden. Such a triggering mechanism allows for adjusting the triggering interval to a certain extent while ensuring that the Zeno phenomenon is excluded for each agent. To mitigate the impact of the actuator faults and external disturbances on the system formation control, an actuator fault estimator is designed along with a prescribed-time state observer to estimate the state of each agent. Then an adaptive control strategy is developed so that the MASs can achieve the desired formation within a prescribed time under the actuator faults and external disturbances. Simulation results are performed to validate the effectiveness of the proposed control strategy.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 18","pages":"2909-2922"},"PeriodicalIF":2.2,"publicationDate":"2024-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12748","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142851382","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Unmanned aerial vehicle formation control method based on improved artificial potential field and consensus

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-11-28 DOI: 10.1049/cth2.12772

Yunming Wang, Yilin Zhong, Yuhang Zhang, Yanhong Shi, Hongrui Chen

{"title":"Unmanned aerial vehicle formation control method based on improved artificial potential field and consensus","authors":"Yunming Wang, Yilin Zhong, Yuhang Zhang, Yanhong Shi, Hongrui Chen","doi":"10.1049/cth2.12772","DOIUrl":"https://doi.org/10.1049/cth2.12772","url":null,"abstract":"Formation coordination can improve the overall performance of unmanned aerial vehicle (UAV) systems, so it is important to realize coordinated formation control. To solve the problems of ineffective internal collision avoidance and communication distance maintenance in existing formation control methods, a UAV formation control algorithm based on an improved artificial potential field and consensus is proposed. First, an improved artificial potential field obstacle avoidance method is used to solve the problems of collision avoidance and communication distance maintenance within the formation by setting a communication risk zone and a collision risk zone and by defining the dynamic adjustment parameters of the inter-UAV virtual force to improve the traditional artificial potential field method. Second, a time integrating factor is introduced, and an improved consensus-based formation control method is employed to overcome the problem of the artificial potential field method falling into the local optimum easily. Simulation experiments were designed to analyse the trends of the UAV formation motion trajectory, inter-UAV relative distance, attitude, and formation time. The analysis results show that the method can make the UAV formation consistent with the flight trajectory of the intended formation, solving the problems of collision avoidance and communication distance maintenance within the UAV formation.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 18","pages":"2555-2567"},"PeriodicalIF":2.2,"publicationDate":"2024-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12772","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142851580","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Extreme learning machine-based super-twisting integral terminal sliding mode speed control of permanent magnet synchronous motors

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-11-14 DOI: 10.1049/cth2.12751

Yusai Zheng, Zhenwei Cao, Kamal Rsetam, Zhihong Man, Song Wang

引用次数: 0

Combining federated learning and control: A survey

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-11-12 DOI: 10.1049/cth2.12761

Jakob Weber, Markus Gurtner, Amadeus Lobe, Adrian Trachte, Andreas Kugi

引用次数: 0

USLC: Universal self-learning control via physical performance policy-optimization neural network USLC：通过物理性能策略优化神经网络实现通用自学习控制

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-11-11 DOI: 10.1049/cth2.12758

Yanhui Zhang, Xiaoling Liang, Weifang Chen, Kunfeng Lu, Chao Xu, Shuzhi Sam Ge

{"title":"USLC: Universal self-learning control via physical performance policy-optimization neural network","authors":"Yanhui Zhang, Xiaoling Liang, Weifang Chen, Kunfeng Lu, Chao Xu, Shuzhi Sam Ge","doi":"10.1049/cth2.12758","DOIUrl":"https://doi.org/10.1049/cth2.12758","url":null,"abstract":"This article proposes an online universal self-learning control (USLC) algorithm based on a physical performance policy-optimization neural network, which aims to solve the problem of universal self-learning optimal control laws for nonlinear systems with various uncertain dynamics. As a key system characterization, this algorithm predicts the discrepancy between the optimal and current control laws by evaluating overall performance in each iterative learning cycle, leveraging an offline-trained universal policy network. This approach is universal, as it does not rely on an exact system model and can adaptively control performance preferences across various tasks by customizing the physical performance cost weights. Using the established control law-performance surface and contraction Lyapunov function, the necessary assumptions and proofs for the stable convergence of the system within a three-dimensional manifold space are provided. To demonstrate the universality of USLC, simulation experiments are conducted on two different systems: a low-order circuit system and a high-order variable-span aircraft attitude control system. The stable control achieved under varying initial values and boundary conditions in each system illustrates the effectiveness of the proposed method. Finally, the limitations of this study are discussed.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 18","pages":"2944-2960"},"PeriodicalIF":2.2,"publicationDate":"2024-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12758","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142860847","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Quantized feedback stabilization of impulsive switched linear systems based on event triggering 基于事件触发的脉冲切换线性系统量化反馈稳定化

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-11-07 DOI: 10.1049/cth2.12760

Rui Chen, Jie Fang, Xihong Fei, Yubao Xu, Duansong Wang, Tan Zhang, Jinzhong Zhang

{"title":"Quantized feedback stabilization of impulsive switched linear systems based on event triggering","authors":"Rui Chen, Jie Fang, Xihong Fei, Yubao Xu, Duansong Wang, Tan Zhang, Jinzhong Zhang","doi":"10.1049/cth2.12760","DOIUrl":"https://doi.org/10.1049/cth2.12760","url":null,"abstract":"This article studies the feedback stabilization problem of an impulsive switched linear system whose feedback loop is closed over a digital network. Particularly, the combined effects of mode switches, impulses, quantization, network delay and external disturbances on the stability of that system are investigated. By extending the previous delay-free and impulse-free methods of reachable-set approximation and propagation, some novel communication and control policies are designed to stabilize the concerned switched system with both network delay and impulses. In order to save the occupied network bandwidth, some event-triggered control policies are proposed. To handle the effects of the mode switches and the impulse, we design event-triggering conditions for both the case with no switch and no impulse on an inter-event interval and the case with one switch or one impulse on an inter-event interval. Note that the occurrence of a mode switch or an impulse leads to the switch of the event-triggering conditions. Under the event-triggered control policies, a stabilizing bit rate condition is derived. It is proven that even under impulses and network delay, the event-triggered control policies can stabilize the switched system at a lower bit rate than earlier works based on conventional time-triggered control policies.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 17","pages":"2482-2502"},"PeriodicalIF":2.2,"publicationDate":"2024-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12760","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142737562","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Resilient and robust control strategy against deception attacks in the platoon of vehicles

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-11-07 DOI: 10.1049/cth2.12757

Hassan Mokari, Elnaz Firouzmand, Iman Sharifi, Ali Doustmohammadi

{"title":"Resilient and robust control strategy against deception attacks in the platoon of vehicles","authors":"Hassan Mokari, Elnaz Firouzmand, Iman Sharifi, Ali Doustmohammadi","doi":"10.1049/cth2.12757","DOIUrl":"https://doi.org/10.1049/cth2.12757","url":null,"abstract":"A platoon must ensure the security of conducting missions due to the susceptibility of the vehicles to cyber-attacks. The deception attack is a common type of cyber-attack that might be introduced during data exchange through communication channels. Therefore, it can divert each vehicle by injecting uncertainty into the communication link between the agents in the cyber domain. This paper employs a leader–follower consensus system as a reference model to control the platoon vehicles. Accordingly, each agent in the reference model sends its information as a reference trajectory to its corresponding vehicle within the platoon. The vehicles are equipped with a robust local controller, enabling them to follow their desired trajectory in the presence of external disturbances. Furthermore, each vehicle employs an unknown input observer to detect a deception attack while decoupling it from external disturbances. Moreover, by introducing a switching strategy based on mode-dependent average dwell time to the leader–follower consensus system, a novel resilient control strategy against the deception attack is implemented in the cyber domain. The resultant resilient leader–follower consensus system in the platoon retrieves and restores the attacked vehicle in the platoon to its associated states. The applicability of the proposed method is shown via simulation.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 18","pages":"2830-2840"},"PeriodicalIF":2.2,"publicationDate":"2024-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12757","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142851428","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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