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

Disturbance-observer-based fault-tolerant control of robotic manipulator: A fixed-time adaptive approach 基于扰动观测器的机器人机械手容错控制：固定时间自适应方法

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-04-29 DOI: 10.1049/cth2.12672

Zeeshan Anjum, Zhe Sun, Bo Chen

{"title":"Disturbance-observer-based fault-tolerant control of robotic manipulator: A fixed-time adaptive approach","authors":"Zeeshan Anjum, Zhe Sun, Bo Chen","doi":"10.1049/cth2.12672","DOIUrl":"https://doi.org/10.1049/cth2.12672","url":null,"abstract":"The concurrent existence of model uncertainties, external disturbances, and actuator faults in a nonlinear system such as a robotic manipulator can significantly affect the trajectory tracking performance of these systems. Therefore this study is devoted to proposing a control approach based on fixed-time control theory to improve the trajectory tracking performance of the robotic manipulator in the presence of lumped disturbance, including uncertainties, external disturbances, and actuator faults. The control approach in this paper is designed based on the integration of a fixed-time adaptive sliding mode observer and a fixed-time non-singular fast terminal sliding mode control design strategy. Firstly, a new fixed-time adaptive sliding mode observer is designed based on fixed-time theory and adaptive control theory to estimate the lumped disturbance present in the system. Then, using the information from the disturbance observer, the fixed-time non-singular fast terminal sliding mode control is devised based on a non-singular fixed-time sliding surface and a fixed-time reaching approach. Furthermore, in the sense of the Lyapunov theorem, through rigorous analysis, it is demonstrated that the tracking errors of the closed-loop system converge to a small neighbourhood within a fixed time, regardless of the information about the initial conditions of the states of the system. Finally, extensive comparative simulations are performed using the PUMA560 robot to manifest the feasibility and validity of the proposed control strategy in terms of trajectory tracking accuracy and fast convergence in the presence of uncertainties, disturbances, and actuator faults.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 11","pages":"1398-1413"},"PeriodicalIF":2.2,"publicationDate":"2024-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12672","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141584130","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

Adaptive neural network control of robotic manipulators with input constraints and without velocity measurements 具有输入约束条件和无速度测量的机器人机械手的自适应神经网络控制

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-04-25 DOI: 10.1049/cth2.12660

Heng Zhang, Yangyang Zhao, Yang Wang, Lin Liu

{"title":"Adaptive neural network control of robotic manipulators with input constraints and without velocity measurements","authors":"Heng Zhang, Yangyang Zhao, Yang Wang, Lin Liu","doi":"10.1049/cth2.12660","DOIUrl":"10.1049/cth2.12660","url":null,"abstract":"This paper addresses the trajectory tracking problem for a class of uncertain manipulator systems under the effect of external disturbances. The main challenges lie in the input constraints and the lack of measurements of joint velocities. An extend-state-observer is utilized to estimate the velocity signals; then, a neural-network-based adaptive controller is proposed to solve the problem, where a term based on the nominal model is included to enhance the tracking ability, and the effect of uncertainties and disturbances are compensated by a neural-network term. Compared with the existing methods, the main distinctive features of the presented approach are: (i) The control law is guaranteed to be bounded by design, instead of directly bounded by a saturation function. (ii) The trade-off between the performance and robustness of the presented controller can be easily tuned by a parameter that depends on the size of model uncertainties and external disturbances. By virtue of the Lyapunov theorem, the convergence properties of the proposed controller are rigorously proved. The performance of the controller is validated via both simulations and experiments conducted on a two-degree-of-freedom robot manipulator.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 10","pages":"1232-1247"},"PeriodicalIF":2.2,"publicationDate":"2024-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12660","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140657589","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

Adaptive control of A class of nonlinear systems with guaranteed parameter estimation: A concurrent learning based approach 保证参数估计的一类非线性系统的自适应控制：基于并发学习的方法

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-04-22 DOI: 10.1049/cth2.12668

Serhat Obuz, Erkan Zergeroglu, Enver Tatlicioglu

{"title":"Adaptive control of A class of nonlinear systems with guaranteed parameter estimation: A concurrent learning based approach","authors":"Serhat Obuz, Erkan Zergeroglu, Enver Tatlicioglu","doi":"10.1049/cth2.12668","DOIUrl":"10.1049/cth2.12668","url":null,"abstract":"Recent advances in concurrent learning based adaptive controllers have relaxed the persistency of excitation condition required to achieve exponential tracking and parameter estimation error convergence. This was made possible via the use of additional concurrent learning stacks in the parameter estimation algorithm. However, the proposed concurrent learning components, that is, the history stacks, needed to be filled with “selected” values dependent on the actual system states. Therefore, the previously proposed concurrent learning adaptive controllers required the system to be stable initially for a finite time so that the corresponding history stacks can be filled (finite excitation condition). In this work, motivated to remove the finite excitation condition, a novel desired system state based concurrent learning adaptive controller is proposed. In order to remove the system state dependencies in the controller and estimation algorithms, a filtered version of the dynamics and a novel prediction error formulation have been designed. The overall exponential stability, parameter error convergence and boundedness of the system states during closed loop operations are ensured via Lyapunov based arguments. The main advantages of the proposed method are its dependence on the desired system states and the overall stability results that paved the way in removing the need for finite excitation condition. Numerical studies performed on a two link robotic device are also presented to illustrate the feasibility of the proposed method.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 10","pages":"1328-1337"},"PeriodicalIF":2.2,"publicationDate":"2024-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12668","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140676038","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

DQN based coverage control for multi-agent system in line intersection region 基于 DQN 的线路交叉区域多代理系统覆盖控制

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-04-22 DOI: 10.1049/cth2.12670

Zuo Lei, Zhang Tengfei, Zhang Jinqi, Yan Maode

{"title":"DQN based coverage control for multi-agent system in line intersection region","authors":"Zuo Lei, Zhang Tengfei, Zhang Jinqi, Yan Maode","doi":"10.1049/cth2.12670","DOIUrl":"10.1049/cth2.12670","url":null,"abstract":"Generally, the coverage control is studied in a convex region, in which the agent kinematics and the coverage environment both have strong limitations. It is difficult to directly apply these results to practical scenarios, such as the road environment or indoor environment. In this study, the multi-agent coverage control problems in a line intersection region is investigated, where the agents can only move along the given lines. To present the agents motion in this line intersection region, the moving directions and velocities of the agents are analyzed in the first part. Then, the coverage control model for the multi-agent system in line intersection region is presented, in which the cost function is provided based on the agent's minimum moving distance and the agent motions are used as the constraints. To solve this constrained coverage problem, the deep Q-learning network (DQN) is employed to find the optimal positions for each agent in the line intersection region. In final, numerical simulations are presented to validate the feasibility and effectiveness of proposed approaches.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 18","pages":"2777-2785"},"PeriodicalIF":2.2,"publicationDate":"2024-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12670","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140675105","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

Distributed quantized secure bipartite consensus of linear multi-agent systems with switching topologies and sequential scaling attacks 具有切换拓扑和顺序缩放攻击的线性多代理系统的分布式量化安全两方共识

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-04-21 DOI: 10.1049/cth2.12641

Qiang Wang, Shaokang Ji, Xiaofei Wang, Xin Peng, Weimin Zhong

{"title":"Distributed quantized secure bipartite consensus of linear multi-agent systems with switching topologies and sequential scaling attacks","authors":"Qiang Wang, Shaokang Ji, Xiaofei Wang, Xin Peng, Weimin Zhong","doi":"10.1049/cth2.12641","DOIUrl":"10.1049/cth2.12641","url":null,"abstract":"This paper considers the secure distributed control consensus problem of linear multi-agent systems (MASs) under switching topologies, subject to intermittent sequential scaling attacks, which was compelled to scaling factor, attack frequency, duration and cooperative-competitive networks. First, the scenario of a fixed topology is considered, and a novel control protocol combined with a logarithmic quantizer and relative state measurements of neighbouring agents is discussed. The sighed graph is utilized to characterize the communication topology determined by the information flow directions and captured by the graph Laplacian matrix. After that, sufficient conditions for effectiveness of the developed control methods in guiding the MASs to secure bipartite leader-following consensus are constructed. Second, the scenario of switching topologies is considered, and it is derived that the secure bipartite consensus will be achieved if the designed state feedback control protocol with the scaling factor, the attack duration, attack frequency and switching signal are selected properly. At last, to prove the effectiveness of the designed controllers, a simulation example depended on the real-word actual military is introduced.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 9","pages":"1114-1125"},"PeriodicalIF":2.6,"publicationDate":"2024-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12641","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140678568","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

Fuzzy control allocation of a positionable rotor quadrotor based on log-barrier optimization and propulsion system fault toleration 基于对数屏障优化和推进系统故障容错的可定位转子四旋翼机模糊控制分配

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-04-21 DOI: 10.1049/cth2.12653

Matin Davoudi Dehkordi, Mohammad Danesh

{"title":"Fuzzy control allocation of a positionable rotor quadrotor based on log-barrier optimization and propulsion system fault toleration","authors":"Matin Davoudi Dehkordi, Mohammad Danesh","doi":"10.1049/cth2.12653","DOIUrl":"10.1049/cth2.12653","url":null,"abstract":"Herein, a control system and a fault tolerance method for the rotor positionable quadrotor are proposed. Quadrotors that have a variable structure are made for different purposes. The rotor-positionable quadrotor studied here, is a type of drone with a variable structure that has the ability to change the position of its rotors linearly along the axis of each arm. It can be seen that this capability can improve the drone robustness against disturbances and faults in comparison with regular quadcopters. Due to the over-actuated dynamics of this type of quadrotor, the control allocation scheme based on log-barrier optimization is employed to obtain the position and speed of each rotor. In this study, it is experimentally shown that rotor positioning not only reduces power consumption but also increases roll and pitch control inputs magnitude. Furthermore, when a fault occurs as a decrease in rotor speed, a fuzzy method is proposed to position the rotors which tolerates the fault. Finally, numerical simulations and experimental tests verified that rotor positioning can bring more robustness, reduction in power consumption, and fault tolerance in some rotor faults capabilities for quadrotors.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 9","pages":"1176-1190"},"PeriodicalIF":2.6,"publicationDate":"2024-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12653","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140678829","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

Hybrid nonlinear ripple-free sampled-data robust regulation with application to UAVs 应用于无人飞行器的混合非线性无纹波采样数据鲁棒调节

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-04-17 DOI: 10.1049/cth2.12649

Ulises Larios-Navarro, Horacio García-Vázquez, Bernardino Castillo-Toledo, Stefano Di Gennaro

引用次数: 0

An analytical adaptive optimal control approach without solving HJB equation for nonlinear systems with input constraints 无需求解输入约束条件下非线性系统 HJB 方程的自适应最优控制分析方法

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-04-17 DOI: 10.1049/cth2.12663

Zahra Tavanaei Sereshki, Heidar Ali Talebi, Farzaneh Abdollahi

{"title":"An analytical adaptive optimal control approach without solving HJB equation for nonlinear systems with input constraints","authors":"Zahra Tavanaei Sereshki, Heidar Ali Talebi, Farzaneh Abdollahi","doi":"10.1049/cth2.12663","DOIUrl":"10.1049/cth2.12663","url":null,"abstract":"This paper presents an analytical method to solve the optimal control problem for affine nonlinear systems with unknown drift dynamics. A new non-quadratic cost function over an infinite horizon is presented that considers input constraints and includes the cost of the feed-forward component of the control law. The mean value theorem for vector-valued functions has been used to derive an integral form of this theorem. Based on this theorem, a rigorous proof is provided demonstrating that the cost function can be converted into another form. In the presence of input constraints, this converted form enables extracting the optimal control solution without solving the HJB equation. Additionally, unknown nonlinearity effects in drift dynamics are compensated in the control input. This is accomplished by estimating the unknown drift dynamics via an adaptive neural network (NN) approach. It is proven that the states and weights of NN are uniformly ultimately bounded based on a Lyapunov technique. The necessary and sufficient conditions are provided that ensure the optimality of the infinite horizon optimal control problem with a discount factor. As a result, it is demonstrated that the proposed approach satisfies the optimality criteria. To evaluate the effectiveness of the proposed approach, simulation examples are provided.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 10","pages":"1275-1288"},"PeriodicalIF":2.2,"publicationDate":"2024-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12663","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140693525","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

Nonlinear control of coaxial double rotor magnetic gear based on high gain observer in wind turbine 基于风力涡轮机高增益观测器的同轴双转子磁齿轮非线性控制

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-04-15 DOI: 10.1049/cth2.12666

Hamideh Habibi, Amanj Aminnzhad, Mohammad Javad Khosrowjerdi

{"title":"Nonlinear control of coaxial double rotor magnetic gear based on high gain observer in wind turbine","authors":"Hamideh Habibi, Amanj Aminnzhad, Mohammad Javad Khosrowjerdi","doi":"10.1049/cth2.12666","DOIUrl":"10.1049/cth2.12666","url":null,"abstract":"This paper proposes a nonlinear control law with a dynamic controller based on high gain observer (HGO) for a co-axial double rotor magnetic gear (CADRMG) based on Halbach array used in wind turbines. The generalized canonical form (GCF) is used to normalize the nonlinear augmented system to achieve the dynamic control signal with a chain of integrator of system output. In addition, a tracking problem is defined to track high speed rotor (HSR) with respect to GCF. On the other hand, the HGO is used to estimate the error tracking at the expense of nonlinear terms. Furthermore, the nonlinear system observability of the augmented system is evaluated. A dynamic control law is used to solve the tracking problem based on HGO. This controller can eliminate the effect of load torque as a constant and unknown disturbance in the closed-loop system. Moreover, the closed-loop stability of the system under dynamic signal control is guaranteed. The system states estimation is calculated by recursive equations from tracking error estimations. Finally, numerical simulations are given to illustrate the theoretical results of proposed system.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 10","pages":"1314-1327"},"PeriodicalIF":2.2,"publicationDate":"2024-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12666","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140700948","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

Estimation of shape memory alloy actuator dynamics to design reduced-order position controller with input saturation 估计形状记忆合金致动器的动态特性，设计具有输入饱和度的降阶位置控制器

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-04-15 DOI: 10.1049/cth2.12665

Mohammad Mohammadi Shahir, Mehdi Mirzaei, Maryam Farbodi, Sadra Rafatnia

{"title":"Estimation of shape memory alloy actuator dynamics to design reduced-order position controller with input saturation","authors":"Mohammad Mohammadi Shahir, Mehdi Mirzaei, Maryam Farbodi, Sadra Rafatnia","doi":"10.1049/cth2.12665","DOIUrl":"https://doi.org/10.1049/cth2.12665","url":null,"abstract":"This study focuses on the precise model estimation for a position control problem actuated by a shape memory alloy (SMA) wire. Because the hysteresis characteristic of SMA introduces complexities in system modelling and adds degrees of freedom, a model with reduced order is implemented for controller design. This model is online updated by calculating a complementary term from the measured data to compensate for the SMA actuator dynamics and other parametric uncertainties. The position controller, derived from the formulated reduced-order model, adapts itself to real conditions and is cost-effective due to the use of only displacement sensor. The saturation of the control input is modelled within the structure of a constrained optimization problem solved by Karush–Kuhn–Tucker theorem. The boundedness of mean and covariance of tracking error and its derivative is demonstrated by stochastic analysis. The experimental results conducted on a platform incorporating a SMA wire show the efficiency of the proposed system in precisely controlling the position by admissible voltage range. The comparative results with a sliding mode controller indicate higher accuracy for the proposed controller to reduce the effect of uncertainties.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 10","pages":"1301-1313"},"PeriodicalIF":2.2,"publicationDate":"2024-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12665","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141556725","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