IET Control Theory and Applications最新文献_第8页

Design an omnidirectional autonomous mobile robot based on non-linear optimal control to track a specified path 设计基于非线性优化控制的全向自主移动机器人，以跟踪指定路径

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-04-04 DOI: 10.1049/cth2.12656

Sajjad Shahgholian, Mohammad Akhavan, Vahid Kamrani, Soheil Ganjefar

{"title":"Design an omnidirectional autonomous mobile robot based on non-linear optimal control to track a specified path","authors":"Sajjad Shahgholian, Mohammad Akhavan, Vahid Kamrani, Soheil Ganjefar","doi":"10.1049/cth2.12656","DOIUrl":"10.1049/cth2.12656","url":null,"abstract":"This paper explores two non-linear control techniques for designing an effective control system for an omnidirectional autonomous mobile robot with four Mecanum wheels. Due to the unique wheel structure and four separate wheels, the robot has non-linear dynamics, multiple inputs and outputs. The first technique uses the state-dependent Riccati equation (SDRE) to address optimal non-linear control while considering energy and time constraints. The second technique, using an intermediate variable <math>\u0000 <semantics>\u0000 <mi>θ</mi>\u0000 <annotation>$theta $</annotation>\u0000 </semantics></math>, has expanded the Hamilton-Jacobi-Belman equation in terms of the power series. Consequently, these equations are reduced to a set of recursive Lyapunov algebraic equations, leading to a closed-form solution for solving the non-linear optimal control problem. Finally, the maneuverability and path-tracking capability of the robot are examined by highlighting the non-linear term through numerical simulation.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-04-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12656","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140744614","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

Graph theory-based synchronization for stochastic uncertain complex dynamical networks via inverse optimal adaptive control 通过逆最优自适应控制实现基于图论的随机不确定复杂动态网络同步化

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-03-25 DOI: 10.1049/cth2.12619

Xuhui Guo, Zhiyi Yao, Di Wang, Huaizhu Wang

引用次数: 0

Enhanced command filtered control with extended state observer for dual-motor servo mechanisms considering backlash and friction 利用扩展状态观测器为双电机伺服机构提供考虑到反向间隙和摩擦的增强型指令过滤控制

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-03-17 DOI: 10.1049/cth2.12640

Xiang Wang, Hanzhong Liu, Lei Zhang, Yang Gao, Yifei Wu

{"title":"Enhanced command filtered control with extended state observer for dual-motor servo mechanisms considering backlash and friction","authors":"Xiang Wang, Hanzhong Liu, Lei Zhang, Yang Gao, Yifei Wu","doi":"10.1049/cth2.12640","DOIUrl":"10.1049/cth2.12640","url":null,"abstract":"A dual-motor servo mechanism is a high-order and strong-coupling system with unknown nonlinearity, which brings challenges to controller design to realize high-performance tracking and synchronization. This article proposes a finite-time command filtered control strategy to address this problem. In tracking control design, finite-time command filters are adopted to obtain the derivatives of virtual controllers, and the “explosion of complexity” problem in backstepping is thus solved. An improved compensation system is designed to reduce filtering errors. The tracking control is developed based on the combination of finite-time control and command filtered approach. Moreover, to deal with unknown nonlinearities and uncertainties, fast finite-time extended state observers are developed to observe lumped disturbances for the load and motor, respectively. In synchronization control design, two opposite control actions are developed using the speed difference to force two motors to rotate synchronously. The finite-time convergence of the tracking and synchronization errors is proved. The efficiency of the proposed control strategy is verified via experiments conducted on a dual-motor servo turntable.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12640","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140235471","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

Reactionless control of free-floating space manipulators with parameter uncertainty and input disturbance 具有参数不确定性和输入干扰的自由浮动空间机械手的无反应控制

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-03-15 DOI: 10.1049/cth2.12633

Kai Gong, Yingmin Jia, Yuxin Jia

{"title":"Reactionless control of free-floating space manipulators with parameter uncertainty and input disturbance","authors":"Kai Gong, Yingmin Jia, Yuxin Jia","doi":"10.1049/cth2.12633","DOIUrl":"10.1049/cth2.12633","url":null,"abstract":"This paper studies the control problem of free-floating space manipulators, and a control scheme is proposed to solve reactionless control of the end-effector pose tracking with parameter uncertainty and input disturbance. First, based on dual modeling to treat the end-effector as a virtual base spacecraft, the dynamics with uncertainties are established which map the joints' torque to the end-effector pose and base spacecraft attitude, while the inverse kinematics and the derivative of the generalized Jacobi matrix can be avoided in controller design. Then, the reference acceleration stabilization schemes satisfying prescribed performance constraints are carefully designed for tracking errors, and based on these schemes the steady-state and transient performance of the tracking control can be guaranteed. Further, the radial basis function neural network is adopted to estimate modeling errors caused by parameter uncertainty and input disturbance. In addition, a concurrent learning method is introduced in the network weights matrix update law, which allows the estimation errors to converge a neighborhood of zeros without the need for satisfying the persistent excitation condition. The simulation results verify the effectiveness of the proposed control scheme.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12633","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140240260","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

Improved nonlinear model-free adaptive iterative learning control in DoS attack environment DoS 攻击环境下的改进型非线性无模型自适应迭代学习控制

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-02-27 DOI: 10.1049/cth2.12549

Yanni Li, Xiuying Li

引用次数: 0

Robust stabilization for uncertain discrete–time singular Markovian jump systems with time–varying delays 具有时变延迟的不确定离散时间奇异马尔可夫跃迁系统的鲁棒稳定问题

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-02-26 DOI: 10.1049/cth2.12634

Wenbin Chen, Fang Gao

{"title":"Robust stabilization for uncertain discrete–time singular Markovian jump systems with time–varying delays","authors":"Wenbin Chen, Fang Gao","doi":"10.1049/cth2.12634","DOIUrl":"10.1049/cth2.12634","url":null,"abstract":"The stabilization problem for uncertain discrete-time singular Markovian jump systems (DSMJSs) with time-varying delays is comprehensively covered in this paper. An updated Lyapunov–Krasovskii functional is presented via a discrete state decomposition method. With the help of this constructed Lyapunov–Krasovskii functional, some delay- and mode-dependent sufficient conditions for the open-loop DSMJSs are derived. Based on these circumstances, a memory mode-dependent state feedback control is used to create a closed-loop DSMJS with parameter uncertainties that is regular and causal. And then, the stochastically admissible conditions are attained. Through the exact calculation of each decomposition component for the designed memory state feedback controller, the intended memory state feedback controller settings are determined. It should be mentioned that the algorithm suggested in this article expands the controller design's feasibility and flexibility. The numerical results show how the approach is superior to previous ones, and the given results are less conservative.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12634","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140430879","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

Supervisory control of quantitative Petri nets for fixed-initial-credit energy problems using a game structure 利用博弈结构对固定初始信用能量问题的定量 Petri 网进行监督控制

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-02-26 DOI: 10.1049/cth2.12638

Yuling Zhang, Gaiyun Liu, Naiqi Wu, Zhiwu Li

{"title":"Supervisory control of quantitative Petri nets for fixed-initial-credit energy problems using a game structure","authors":"Yuling Zhang, Gaiyun Liu, Naiqi Wu, Zhiwu Li","doi":"10.1049/cth2.12638","DOIUrl":"10.1049/cth2.12638","url":null,"abstract":"This work investigates quantitative supervisory control of discrete event systems modeled with Petri nets under the fixed-initial-credit energy objective. A weight function referred to as an energy function is defined on a Petri net to characterize the energy level of a transition. The proposed fixed-initial-credit energy problem aims to design a supervisor such that the energy level of a transition sequence in a supervised system is higher than 0 under a given initial energy level. The problem is eventually transformed into a two-player game between a system and a supervisor; supervisor synthesis is reduced to finding a winning strategy in the two-player game. Instead of enumerating the complete state space of the underlying Petri net, two information structures are utilized, namely the conventional basis reachability graph and the newly proposed essential marking graph, to construct two-player games based on each of them. It is shown that a winning strategy for a supervisor decoded from the game based on the basis reachability graph of the Petri net is a solution to the problem but is in general restrictive. Further, it is shown that the set of strategies for a supervisor in the game based on the essential marking graph is consistent with that from the game based on the reachability graph of a Petri net. The two developed approaches do not require an exhaustive exploration of the state space of a plant, thus achieving higher efficiency.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12638","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140428613","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 total energy shaping of a class of manipulators 一类机械手的自适应总能量整形

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-02-26 DOI: 10.1049/cth2.12637

M. Reza J. Harandi, Hamid D. Taghirad

引用次数: 0

Hybrid finite-time fault-tolerant consensus control of non-linear fractional order multi-agent systems based on fault detection and estimation 基于故障检测和估计的非线性分数阶多代理系统的混合有限时间容错共识控制

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-02-14 DOI: 10.1049/cth2.12627

Mahmood Nazifi, Mahdi Pourgholi

引用次数: 0

A leader-follower communication protocol for motion planning in partially known environments under temporal logic specifications 时间逻辑规范下部分已知环境中运动规划的领导者-追随者通信协议

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-02-13 DOI: 10.1049/cth2.12636

Xiaohong Yan, Yingying Liu, Renwen Chen, Wei Duan

{"title":"A leader-follower communication protocol for motion planning in partially known environments under temporal logic specifications","authors":"Xiaohong Yan, Yingying Liu, Renwen Chen, Wei Duan","doi":"10.1049/cth2.12636","DOIUrl":"10.1049/cth2.12636","url":null,"abstract":"This paper considers the problem of communication protocols between leaders and its followers for motion planning in an initially partially known environment. In this setting, the leader observes the environment information to satisfy its own local objective and and the follower completes its own local objective by estimating the states of the leader and communicating with the leader to update its knowledge about the environment when it is necessary, where the local objectives can be expressed in temporal logic. A verifier construction is built first to contain all possible communication protocols between the leaders and the followers. Then, a two-step synthesis procedure is proposed to capture all feasible communication protocol that satisfy the local objectives for the leader and follower, respectively. In the first step, a sub-verifier is synthesized to satisfy the objective of the follower. In the second step, based on the obtained sub-verifier, an iterative algorithm is proposed to extract communication protocols such that the objectives of the leader and follower are satisfied, respectively. A running example is provided to illustrate the proposed procedures.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2024-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12636","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139839776","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