IET Control Theory and Applications最新文献_第5页

A general matrix decomposition approach with application to stabilization of networked systems with stochastic sampling and two-channel deception attacks 通用矩阵分解法，应用于具有随机抽样和双通道欺骗攻击的网络系统的稳定问题

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-06-05 DOI: 10.1049/cth2.12676

Yizhen Li, Zhipei Hu, Feiqi Deng, Yongkang Su, Guangjie Li

{"title":"A general matrix decomposition approach with application to stabilization of networked systems with stochastic sampling and two-channel deception attacks","authors":"Yizhen Li, Zhipei Hu, Feiqi Deng, Yongkang Su, Guangjie Li","doi":"10.1049/cth2.12676","DOIUrl":"10.1049/cth2.12676","url":null,"abstract":"This study is concerned with the stabilization analysis and controller design for networked systems with stochastic sampling and two-channel deception attacks. First, we give a general matrix decomposition approach which is applicable to scenarios where the system matrix <math>\u0000 <semantics>\u0000 <mi>A</mi>\u0000 <annotation>$A$</annotation>\u0000 </semantics></math> contains complex-value eigenvalues. Then, a discrete stochastic framework is established for a class of networked systems which considers the joint effects of sampling errors and two-channel deception attacks. Utilizing the matrix decomposition approach introduced in this study, it becomes feasible to decouple the expectation operations for specific coupling matrices characterized by substantial nonlinearity and randomness. Based on this, a stabilization controller is constructed that ensures the exponential mean-square stability of the resulting discrete stochastic system. Finally, three simulation examples are provided to validate the effectiveness of the proposed approach.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12676","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141385573","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

Data-driven adaptive control design for active stabilization of stratospheric airship imaging platform: A characteristic model approach 平流层飞艇成像平台主动稳定的数据驱动自适应控制设计：特征模型方法

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-06-02 DOI: 10.1049/cth2.12682

Yanlin Chen, Shaoping Shen, Junjie Guan, Zikun Hu

{"title":"Data-driven adaptive control design for active stabilization of stratospheric airship imaging platform: A characteristic model approach","authors":"Yanlin Chen, Shaoping Shen, Junjie Guan, Zikun Hu","doi":"10.1049/cth2.12682","DOIUrl":"10.1049/cth2.12682","url":null,"abstract":"In response to the problem of disturbance in the imaging equipment of stratospheric airships, this study designs a vibration isolation and stability system for carrying imaging equipment. The system mainly consists of microprocessor, gimbal, voice coil motor (VCM) and rubber ring. By using adaptive control law based on characteristic model to control the double closed control loop of the motor composed of position loop and speed loop, the camera deflection caused by disturbance is effectively eliminated. Furthermore, in vertical vibration suppression, the adaptive control law based on the characteristic model is also applied to the double closed control loop of the voice coil motor, which removes most of the vertical vibration and realizes active vibration isolation. The passive isolation of the system is completed by rubber rings. The experimental results show that the vibration isolation and stabilization system have good performance in complex disturbance environments, effectively stabilizing the imaging equipment.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12682","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141272807","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

Group-weighted oscillatory containment for multiple robots under heterogeneous cooperation and competition 异质合作与竞争条件下多机器人的群体加权振荡控制

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-05-29 DOI: 10.1049/cth2.12674

L. Y. Zhao, Y. Ren, W. Li, P. Liang

{"title":"Group-weighted oscillatory containment for multiple robots under heterogeneous cooperation and competition","authors":"L. Y. Zhao, Y. Ren, W. Li, P. Liang","doi":"10.1049/cth2.12674","DOIUrl":"https://doi.org/10.1049/cth2.12674","url":null,"abstract":"The group-weighted containment (GWC) problem is studied for swarms of robots, where the information flow among agents is heterogeneous (weighted) cooperative-competitive and the whole networked systems are composed of multiple different groups. Each group is formed by multiple harmonic oscillator leaders and multiple robot followers governed by Euler-Lagrange (EL) equations. After introducing the definition of group-weighted containment to the networked robot systems, the control algorithms for the agents containing followers and leaders are formulated over newly weighted cooperative-competitive network. Some necessary conditions for solving the weighted containment control problem are established. It is shown that the followers in every group can achieve a kind of novel coordinated behaviors. Specifically, the followers can converge to the dynamic convex hull spanned by the corresponding leaders' weighted coordinates under some conditions. Simulation results are provided to illustrate the effectiveness of the proposed control schemes.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12674","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141968324","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 fault-tolerant control of a nonlinear 2-DOF helicopter system with prescribed performance 具有规定性能的非线性 2-DOF 直升机系统的自适应容错控制

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-05-24 DOI: 10.1049/cth2.12679

Hui Bi, Weitian He, Xiaowei Wang, Tao Zou, Zhijia Zhao

引用次数: 0

Output feedback stabilization of stochastic high-order nonlinear time-delay systems with unknown output function 具有未知输出函数的随机高阶非线性时延系统的输出反馈稳定化

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-05-07 DOI: 10.1049/cth2.12678

Wei Dong, Mengmeng Jiang

引用次数: 0

Distributed auto disturbances rejection resilient control of permanent magnetic maglev trains based on the optimized deep deterministic policy gradient algorithm 基于优化的深度确定性策略梯度算法的永磁磁悬浮列车分布式自动干扰抑制弹性控制

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-05-06 DOI: 10.1049/cth2.12673

Zhen-yu Guo, Zhong-qi Li

{"title":"Distributed auto disturbances rejection resilient control of permanent magnetic maglev trains based on the optimized deep deterministic policy gradient algorithm","authors":"Zhen-yu Guo, Zhong-qi Li","doi":"10.1049/cth2.12673","DOIUrl":"10.1049/cth2.12673","url":null,"abstract":"Due to time-varying external disturbances and uncertain system models, distributed cooperative controllers with poor adaptability are unable to meet the cooperative control requirements of multiple permanent magnetic maglev trains in virtual coupling mode. In this work, a new effective distributed auto disturbance rejection resilient controller based on the optimized deep deterministic policy gradient algorithm (DDPG) is proposed. The DDPG algorithm is used to improve the adaptability of the controller against the time-varying disturbances. An adaptive particle swarm optimization method (APSO) is also proposed to optimize the hyperparameters of DDPG in the search space. The simulation results show that, compared to the particle swarm optimization (PSO)-actor-critic (AC), PSO-policy gradient (PG), and PSO-DDPG algorithms, the proposed APSO-DDPG algorithm performs better during training and verification. The proposed method achieves adaptive online adjustment of the controller parameters effectively and greatly improves the stability of cooperative control.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12673","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141008468","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

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":null,"pages":null},"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":null,"pages":null},"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":null,"pages":null},"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

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":null,"pages":null},"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