IET Control Theory and Applications最新文献_第10页

On the explicit Hermitian solutions of the continuous-time algebraic Riccati matrix equation for controllable systems 论可控系统连续时间代数里卡提矩阵方程的显式赫米特解

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-01-09 DOI: 10.1049/cth2.12618

Liangyin Zhang, Michael Z. Q. Chen, Zhiwei Gao, Lifeng Ma

{"title":"On the explicit Hermitian solutions of the continuous-time algebraic Riccati matrix equation for controllable systems","authors":"Liangyin Zhang, Michael Z. Q. Chen, Zhiwei Gao, Lifeng Ma","doi":"10.1049/cth2.12618","DOIUrl":"10.1049/cth2.12618","url":null,"abstract":"This paper proposes explicit solutions for the algebraic Riccati matrix equation. For single-input systems in controllable canonical form, the explicit Hermitian solutions of the non-homogeneous Riccati equation are obtained using the entries of the system matrix, the closed-loop system matrix, and the weighting matrix. The unknown entries of the closed-loop system matrix are solved by scalar quadratic equations. For a homogeneous Riccati equation with a zero weighting matrix, the explicit solutions are proposed analytically in terms of the system eigenvalues. The advantages of the explicit solutions are threefold: first, if the system is controllable, the solution is directly given and the invariant subspaces of the Hamiltonian matrix are not required; second, if the system is near singularity, the explicit solution has higher numerical precision compared with the solution computed by numerical algorithms; third, for a real system in the controllable canonical form, the non-negativity can be analysed for the explicit almost stabilizing solution.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12618","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139443146","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

An adaptive neural design for planar rigid formation of three coleaders in unknown flowfields 用于未知流场中三个协同领导的平面刚性形成的自适应神经设计

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-01-08 DOI: 10.1049/cth2.12617

Weibin Chen, Peng Xu, Yang-Yang Chen

引用次数: 0

Small-gain based stabilizing control for hybrid systems: Application to bipedal walking robot 基于小增益的混合系统稳定控制：双足行走机器人的应用

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-01-04 DOI: 10.1049/cth2.12612

Fatemeh Khademian, Mehdi Rahmani

引用次数: 0

Disturbance observer-based model predictive control of a coaxial octorotor with variable centre of gravity 基于扰动观测器的重心可变同轴曳引机模型预测控制

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-01-03 DOI: 10.1049/cth2.12611

Reza Ebrahimpour Derakhshan, Mohammad Danesh, Hassan Moosavi

{"title":"Disturbance observer-based model predictive control of a coaxial octorotor with variable centre of gravity","authors":"Reza Ebrahimpour Derakhshan, Mohammad Danesh, Hassan Moosavi","doi":"10.1049/cth2.12611","DOIUrl":"10.1049/cth2.12611","url":null,"abstract":"This paper presents a model predictive control (MPC) approach based on the extended disturbance observer (EDOB) for trajectory tracking of a coaxial octorotor unmanned aerial vehicle (UAV). First, the system dynamic model is derived using Newton–Euler relations in the presence of time-varying centre of gravity (COG); then, a two-loop cascade structure is presented to perform the trajectory tracking task. Both loops are controlled using MPC with feedforward compensation based on the EDOB to improve disturbance rejection abilities. When the mass changes, the moment of inertia and COG are affected. The EDOB simultaneously estimates the effects of time-varying mass, external disturbances, and parametric uncertainties in six degrees of freedom. After obtaining virtual control inputs using designed controllers, constrained control allocation is used to obtain rotors speed in a valid range. The proposed control scheme is evaluated using simulation. The simulation results show the ability of the developed control strategy in accurate trajectory tracking and stable flight in different conditions and being robust to uncertainty and disturbance.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-01-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12611","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139388975","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

An efficient model-free adaptive optimal control of continuous-time nonlinear non-zero-sum games based on integral reinforcement learning with exploration 基于积分强化学习与探索的连续时间非线性非零和博弈的高效无模型自适应优化控制

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2023-12-24 DOI: 10.1049/cth2.12610

Lei Guo, Wenbo Xiong, Yuan Song, Dongming Gan

{"title":"An efficient model-free adaptive optimal control of continuous-time nonlinear non-zero-sum games based on integral reinforcement learning with exploration","authors":"Lei Guo, Wenbo Xiong, Yuan Song, Dongming Gan","doi":"10.1049/cth2.12610","DOIUrl":"10.1049/cth2.12610","url":null,"abstract":"To reduce the learning time and space occupation, this study presents a novel model-free algorithm for obtaining the Nash equilibrium solution of continuous-time nonlinear non-zero-sum games. Based on the integral reinforcement learning method, a new integral HJ equation that can quickly and cooperatively determine the Nash equilibrium strategies of all players is proposed. By leveraging the neural network approximation and gradient descent method, simultaneous continuous-time adaptive tuning laws are provided for both critic and actor neural network weights. These laws facilitate the estimation of the optimal value function and optimal policy without requiring knowledge or identification of the system's dynamics. The closed-loop system stability and convergence of weights are guaranteed through the Lyapunov analysis. Additionally, the algorithm is enhanced to reduce the number of auxiliary NNs used in the critic. The simulation results for a two-player non-zero-sum game validate the effectiveness of the proposed algorithm.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2023-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12610","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139160922","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

Output controllability of impulsive Boolean control networks based on hybrid-index model 基于混合指数模型的脉冲布尔控制网络的输出可控性

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2023-12-19 DOI: 10.1049/cth2.12609

Qianya Liang, Rongpei Zhou, Jie Chen, Yong Ding

引用次数: 0

Adaptive neural network H ∞ $H_infty$ control for offshore platform with input delay and nonlinearity 具有输入延迟和非线性的海上平台自适应神经网络 H∞$H_infty$ 控制

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2023-12-11 DOI: 10.1049/cth2.12575

Yun Zhang, Hui Ma, Shu-Qing Wang, Jianliang Xu, Hao Su, Jing Zhang

{"title":"Adaptive neural network \u0000 \u0000 \u0000 H\u0000 ∞\u0000 \u0000 $H_infty$\u0000 control for offshore platform with input delay and nonlinearity","authors":"Yun Zhang, Hui Ma, Shu-Qing Wang, Jianliang Xu, Hao Su, Jing Zhang","doi":"10.1049/cth2.12575","DOIUrl":"10.1049/cth2.12575","url":null,"abstract":"In this work, an adaptive learning robust controller is proposed to suppress the vibration of offshore platforms, which are subject to waves, winds, varying control delays and parametric perturbations. To realize nonlinear uncertainty approximation under the bounded <math>\u0000 <semantics>\u0000 <msub>\u0000 <mi>H</mi>\u0000 <mi>∞</mi>\u0000 </msub>\u0000 <annotation>$H_infty$</annotation>\u0000 </semantics></math> performance, the <math>\u0000 <semantics>\u0000 <msub>\u0000 <mi>H</mi>\u0000 <mi>∞</mi>\u0000 </msub>\u0000 <annotation>$H_infty$</annotation>\u0000 </semantics></math> controller incorporates both an online adaptive part and an offline fixed part. The adaptive part constructed by neural networks adjusts online, while the fixed part is obtained by regulating the <math>\u0000 <semantics>\u0000 <msub>\u0000 <mi>H</mi>\u0000 <mi>∞</mi>\u0000 </msub>\u0000 <annotation>$H_infty$</annotation>\u0000 </semantics></math> performance. Importantly, adaptive updating strategy does not require accurate values or upper bounds for real-time control delay or uncertainty. Several comparable experiments demonstrate the feasibility and effectiveness in vibration-suppression of the designed adaptive controller in shallow/deep water. This scheme significantly reduces system response variations due to structural and hydrodynamic uncertainty, as well as additional random environmental forces caused by winds.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2023-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12575","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139184123","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

Precision positioning control of wind tunnel centrosome 风洞中心体的精确定位控制

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2023-12-07 DOI: 10.1049/cth2.12599

Lin Liu, Ping Yuan, Zhizhong Mao

{"title":"Precision positioning control of wind tunnel centrosome","authors":"Lin Liu, Ping Yuan, Zhizhong Mao","doi":"10.1049/cth2.12599","DOIUrl":"https://doi.org/10.1049/cth2.12599","url":null,"abstract":"The centrosome plays a crucial role in regulating the flow field of a continuous wind tunnel, and its positioning precision directly impacts the control accuracy of the Mach number. A high-precision positioning control algorithm for the wind tunnel centrosome is proposed based on a model predictive control framework. Since that the centrosome is a typical non-linear system with a Hammerstein structure comprising an input backlash and a linear dynamic block in series, a parameterized least-squares identification method is constructed based on an adaptive forgetting factor strategy and a centrosome position prediction model with input backlash is established. To counteract the weakening effect of the backlash non-linear block on the control signal, a compensator is constructed to compensate for the non-linear input block. Considering that the input undetectable disturbance signal in the actuator may lead to unpredictable responses, an intermediate state observer is designed and the stable convergence of the observer algorithm is also proved. Finally, the closed-loop stability of the proposed control algorithm is analyzed by constructing a Lyapunov function. Experimental testing verifies the superiority and applicability of the proposed algorithm.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2023-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12599","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140104427","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

Autotuning of PID controller using the modified relay feedback test and optimization under uncertainty principle for robotic manipulators 利用修正的继电器反馈测试和不确定性原理下的优化自动调整 PID 控制器，用于机器人机械手

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2023-12-07 DOI: 10.1049/cth2.12592

Ahmed Rehan, Igor Boiko, Yahya Zweiri

{"title":"Autotuning of PID controller using the modified relay feedback test and optimization under uncertainty principle for robotic manipulators","authors":"Ahmed Rehan, Igor Boiko, Yahya Zweiri","doi":"10.1049/cth2.12592","DOIUrl":"https://doi.org/10.1049/cth2.12592","url":null,"abstract":"The development of an autotuning mechanism for robotic manipulators, inspired by the success of autotuners in industrial systems, aims to reduce the time and cost of tuning robotic manipulators. This paper introduces an auto-tuning method for PID controllers in robotic manipulators using the Modified Relay Feedback Test (MRFT) and the Optimization Under Uncertainty (OUU) principle. The mechanism is versatile, suitable for manipulators of varying scales and motor power capacities. It incorporates actuator dynamics and a combined model of Brushless DC motors with an n-link manipulator for TR development. Various manipulator models, including commercial and open-source types were used to refine and test the TR. An algorithm is also proposed for tuning commercial manipulators' controllers without changing the existing closed-loop system structure. Experimental and simulation tests demonstrate the method's effectiveness, showing better performance than traditional approaches, particularly in reducing overshoot and settling time.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2023-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12592","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140104428","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

A cooperative control method combining signal control and speed control for transit with connected vehicle environment 一种结合信号控制和速度控制的协同控制方法，用于互联车辆环境下的公交系统

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2023-12-07 DOI: 10.1049/cth2.12608

Kunmin Teng, Haiqing Liu, Qiang Liu, Xiao Lu

{"title":"A cooperative control method combining signal control and speed control for transit with connected vehicle environment","authors":"Kunmin Teng, Haiqing Liu, Qiang Liu, Xiao Lu","doi":"10.1049/cth2.12608","DOIUrl":"https://doi.org/10.1049/cth2.12608","url":null,"abstract":"Transit operation efficiency and service quality can be enhanced through the implementation of signal and speed control. Previous studies prefer to change driving speed in priority to alleviate the adverse effects of signal timing adjustment on social vehicles. The driving safety and fuel consumption of transit are ignored. To this end, a cooperative control method consisting of three models is proposed. The cooperative control strategy model provides optimal schemes for allocating transit priority time. Based on this, the adjustment of phase time and the transit speed trajectory with the lower fuel consumption are calculated by signal control model and speed control model, respectively. Especially, the signal control model is established in the background of green wave coordinated control to further protect the travelling benefits of social vehicles. The simulation is performed in SUMO to demonstrate the effectiveness of the proposed method. The results show that the cooperative control method improves the crossing efficiency and enhances the fuel economy of transit under different arrival speeds and lengths of control area. Compared with the general signal control, the proposed method can minimize traffic interference, which is particularly obvious in a higher degree of saturation.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2023-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12608","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140343095","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