IET Control Theory and Applications最新文献

{"title":"Asymptotic Stabilization for Uncertain Nonlinear Systems With Input Quantization","authors":"Fei Yan,&nbsp;Shuo Wang,&nbsp;Guoxiang Gu","doi":"10.1049/cth2.70009","DOIUrl":"https://doi.org/10.1049/cth2.70009","url":null,"abstract":"<p>This paper investigates the problem of asymptotic stabilization for a class of uncertain nonlinear systems involving logarithmic quantization at the system input. Different from the existing results and approaches, a Lyapunov function candidate and an adaptive control law are developed to adaptively estimate the uncertain parameters and to asymptotically stabilize the uncertain nonlinear system, in which the control input also involves uncertain parameters, possibly in the nonlinear form. It is shown that asymptotic stabilization can be achieved under some mild conditions, even though the adaptively estimated parameters do not converge to the true system parameters. A sufficient condition is obtained for the asymptotic stabilizability, in terms of the quantization density and the multiplicative parameter error bound at the control input. More importantly, the proposed adaptive control law is suboptimal for the corresponding LQR control and achieves the <span></span><math>\u0000 <semantics>\u0000 <msub>\u0000 <mi>H</mi>\u0000 <mi>∞</mi>\u0000 </msub>\u0000 <annotation>${cal H}_{infty }$</annotation>\u0000 </semantics></math>-norm to be strictly smaller than <span></span><math>\u0000 <semantics>\u0000 <mi>γ</mi>\u0000 <annotation>$gamma$</annotation>\u0000 </semantics></math>, provided that <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <mi>γ</mi>\u0000 <mo>&gt;</mo>\u0000 <mn>1</mn>\u0000 </mrow>\u0000 <annotation>$gamma &gt;1$</annotation>\u0000 </semantics></math>, for the uncertain linearized closed-loop system, effectively suppressing energy bounded disturbances. Finally, two simulation examples are worked out to illustrate the effectiveness of the proposed method.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-02-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70009","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143456141","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}

{"title":"Active fault-tolerant control scheme for satellite with four reaction wheels: Multi actuator faults case","authors":"Yong Seok Lee,&nbsp;Ngoc Phi Nguyen,&nbsp;Sung Kyung Hong","doi":"10.1049/cth2.70000","DOIUrl":"https://doi.org/10.1049/cth2.70000","url":null,"abstract":"<p>This study outlines an approach to design an active fault tolerance control (FTC) system for satellite attitude systems that handle multiple actuator faults. First, a model is provided for the nonlinear attitude system of rigid satellites. Next, an actuator fault detection observer and a fault estimation observer are presented, which detects the time unknown actuator faults that occur and obtains estimated values. Using adaptive sliding mode control techniques, a fault tolerance attitude controller is designed that stabilizes the closed-loop attitude system of rigid satellites in the case of multiple actuator faults. Finally, an experiment is provided demonstrating the superior performance of the active FTC system proposed in this study.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70000","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143446912","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}

{"title":"Adaptive dynamic programming for trajectory tracking control of a tractor-trailer wheeled mobile robot","authors":"Aliakbar Ghasemzadeh,&nbsp;Roya Amjadifard,&nbsp;Ali Keymasi-Khalaji","doi":"10.1049/cth2.12784","DOIUrl":"https://doi.org/10.1049/cth2.12784","url":null,"abstract":"<p>Tractor-trailer wheeled mobile robots (TTWMRs) possess complex nonlinear dynamics that make their precise trajectory tracking control challenging. This paper explores an adaptive dynamic programming (ADP) approach that utilizes critic neural networks to improve tracking control for continuous-time TTWMRs. To achieve this, the decoupled kinematic and dynamic loops of the TTWMR are considered, and ADP controllers are proposed aimed at integrated trajectory and velocity tracking. Tis study defines two tracking error systems related to the kinematic and dynamic control loops, which reduces the computational load compared to previous research. The two critic neural networks approximate the optimal cost functions and enable the adaptive tuning of the control policies. Theoretical analysis demonstrates both closed-loop stability and convergence. Simulation results indicate that the proposed method offers superior tracking performance compared to earlier techniques, exhibiting lower errors and reduced control efforts. This underscores the advantages of using ADP to optimize the control of TTWMRs, even in the presence of partially unknown dynamics.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12784","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143120644","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}

{"title":"Design of a novel robust adaptive backstepping controller optimized by snake algorithm for buck-boost converter","authors":"Farshid Mohammadi,&nbsp;Ali Kaffash,&nbsp;Zahra Donyagozashteh,&nbsp;Minoo Marasi,&nbsp;Mojtaba Tavakoli","doi":"10.1049/cth2.12770","DOIUrl":"https://doi.org/10.1049/cth2.12770","url":null,"abstract":"<p>A power DC-DC Buck-Boost converter is controlled using a Lyapunov-based Adaptive Backstepping Control (ABSC) technique. It exhibits unfavorable behavior due to its non-minimum structure, necessitating a well-regulated controller to guarantee stability. This strategy is an enhanced iteration of the technique that uses the stability Lyapunov function to achieve greater stability and improved resistance to disturbances in real-world scenarios. Furthermore, the Black-box technique is employed to minimize the computing workload and facilitate implementation, under the assumption that there is no precise mathematical model available for the system. However, in real-time settings, disruptions with broader scopes such as fluctuations in supply voltage, variations in parameters, and noise might have adverse effects on the functioning of this approach. There is a need to set the most suitable initial gains for the controller to enhance its flexibility in more challenging working conditions. Therefore, to meet this requirement and enhance the effectiveness of the controller, the control scheme integrates a computational method called the Snake optimization (SO) algorithm. The SO method is known for its disciplined and nature-inspired approach, which results in faster decision-making and greater accuracy compared to other optimization algorithms. In order to further explain the advantages of this method, classical Backstepping and SO-based PID schemes are also developed and evaluated in various scenarios. The effectiveness of this approach is tested in both simulation and experimental environments, showing significant outcomes and lower sensitivity to error.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-01-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12770","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143118032","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}

{"title":"Optimized design of a pseudo-linearization-based model predictive controller: Direct data-driven approach","authors":"Mikiya Sekine,&nbsp;Satoshi Tsuruhara,&nbsp;Kazuhisa Ito","doi":"10.1049/cth2.12786","DOIUrl":"https://doi.org/10.1049/cth2.12786","url":null,"abstract":"<p>To reduce the typical time-consuming routines of plant modelling for model-based controller designs in Single-Input Single-Output (SISO) systems, the fictitious reference iterative tuning (FRIT) method has been proposed and proven to be effective in many applications. However, it is generally difficult to properly select a reference model without a prior information on the plant. This significantly affects the control performance and might considerably degrade the system performance. To address this problem, a pseudo-linearization (PL) method using FRIT is proposed, and a new controller for SISO non-linear systems by combining data-driven and model-based control methods is designed. The proposed design considers input constraints using model predictive control. The effectiveness of the proposed method was evaluated based on several practical references using numerical simulations for hysteresis and dead zone classes and experiments involving artificial muscles with hysteresis characteristics.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-01-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12786","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143116271","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}

{"title":"A motor fault diagnosis using hybrid binary differential evolution algorithm and whale optimization algorithm with storage space","authors":"Chun-Yao Lee,&nbsp;Truong-An Le,&nbsp;Tzu-Hao Chu,&nbsp;Shih-Che Hsu","doi":"10.1049/cth2.12783","DOIUrl":"https://doi.org/10.1049/cth2.12783","url":null,"abstract":"<p>The most common cause of mechanical failure is bearing failure, and the characteristics of each failure correspond to a certain degree of severity. This paper proposes a fault diagnosis model for detecting motor bearings. The model uses three steps: feature extraction, feature selection, and classification. In feature extraction, empirical mode decomposition, fast Fourier transform, and envelope analysis extract important features from the signals measuring the motor. In feature selection, a binary differential evolution and binary whale algorithm are developed and the storage space is increased to eliminate irrelevant features again. Finally, KNN and SVM are used to determine the stability of the bearing fault diagnosis model.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-01-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12783","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143115775","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}

{"title":"VSDRL: A robust and accurate unmanned aerial vehicle autonomous landing scheme","authors":"Dechao Chen,&nbsp;Chentong Shi,&nbsp;Xiaofeng Pan,&nbsp;Jie Jin,&nbsp;Shuai Li","doi":"10.1049/cth2.70002","DOIUrl":"https://doi.org/10.1049/cth2.70002","url":null,"abstract":"<p>Visually assisted unmanned aerial vehicle (UAV) autonomous landing has drawn a lot of interest as a vital technology with the quick development of UAV systems. From the perspective of robustness, a visual servoing disturbance rejection landing (VSDRL) scheme based on fractional-order linear active disturbance rejection control is novelly proposed to achieve the disturbance-resistant landing. The proposed VSDRL scheme is constructed by two modules: (i) A visual positioning algorithm combining YOLOv5 with Kalman filtering to solve the occlusion problem in the visual positioning module obtaining the relative position relationship; (ii) On the basis of linear active disturbance rejection control, fractional order is introduced to improve the antidisturbance ability and response speed. Theoretical analysis, computer simulations and real UAV experiments all verify the effectiveness and superiority of the proposed VSDRL scheme.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-01-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70002","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143115408","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}

{"title":"Passivity-based event-triggered frequency control in power system using dynamic pricing","authors":"Yasutomo Shibata,&nbsp;Heng Kang,&nbsp;Toru Namerikawa","doi":"10.1049/cth2.12742","DOIUrl":"https://doi.org/10.1049/cth2.12742","url":null,"abstract":"<p>The integration of renewable energy resources in modern power systems promotes flexible demand response but poses challenges to power balance and frequency stability due to their intermittent generation. To address this problem, this study deals with the frequency control of power system in the presence of demand responses. The dynamic electricity pricing scheme enabling both demand response participants and suppliers to contribute to the frequency regulation via their own decision-making process is proposed. The main concern in the controller design is the integration of physical and human systems on the same timescale, encompassing controllers based on frequency dynamics and dynamic pricing. Therefore, event-triggered conditions are proposed to decrease the communication frequency while ensuring system stability, leveraging the passivity property of the system. Under the proposed event-triggered conditions, the authors clearly demonstrate the asymptotic stability around the equilibrium point of the entire system. Furthermore, a numerical simulation using a four areas power network system is performed, confirming the effectiveness of the proposed control scheme and the stability of the system.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-01-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12742","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143114707","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}

{"title":"Distributed \u0000 \u0000 \u0000 H\u0000 ∞\u0000 \u0000 $H_infty$\u0000 control for roller kiln temperature based on adaptive dynamic programming","authors":"Zeng Luo,&nbsp;Ning Chen,&nbsp;Jiayao Chen,&nbsp;Biao Luo,&nbsp;Binyan Li,&nbsp;Weihua Gui","doi":"10.1049/cth2.12785","DOIUrl":"https://doi.org/10.1049/cth2.12785","url":null,"abstract":"<p>The roller kiln with multi-temperature zones used for cathode material sintering is an interconnected system with time delay in energy transfer and precise control of the temperature for the preparation of cathode materials for lithium-ion batteries. However, the interconnection between the temperature zones, the time delay of the temperature state, and the disturbance of the external environment make it difficult to control the sintering process. For this reason, this paper develops a distributed <span></span><math>\u0000 <semantics>\u0000 <msub>\u0000 <mi>H</mi>\u0000 <mi>∞</mi>\u0000 </msub>\u0000 <annotation>$H_{infty }$</annotation>\u0000 </semantics></math> control of the temperature of roller kiln based on adaptive dynamic programming (ADP). Firstly, the heat transfer mechanism of sintering process is discussed; the law of energy conservation provides the physical basis for the sintering process on which the autocorrelation function method identifies the time delay. Then, the cost function is constructed by combining the Lyapunov–Krasovskii function containing the time delay, the temperature state, the heating power of the silicon carbon rod and the perturbation. Subsequently, Hamilton–Jacobi–Isaac equation with the optimal cost function and the optimal distributed control strategy are approximated by neural network of ADP. Finally, the stability of the closed-loop system is proved by Lyapunov functional analysis, and the effectiveness of the proposed method is verified by the simulation results of roller kiln temperature control.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-01-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12785","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143113861","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}

{"title":"Neuro-adaptive fractional order prescribed performance backstepping control for a class of strict-feedback non-linear systems","authors":"Le Zhao,&nbsp;Guanci Yang,&nbsp;Kexin Luo,&nbsp;Ling He","doi":"10.1049/cth2.12782","DOIUrl":"https://doi.org/10.1049/cth2.12782","url":null,"abstract":"<p>To suppress the non-linear motion for a class of strict-feedback fractional order non-linear systems, and to improve their transient and steady-state performance, a neuro-adaptive prescribed performance backstepping control strategy suitable for a class of strict-feedback non-linear systems is proposed in this paper. Firstly, the interval Type-2 fuzzy neural network is constructed to approximate the unknown non-linear functions. Secondly, the tracking differentiator is introduced to address the problem of ‘explosion of complexity’ associated with the technique framework of backstepping. Then, a prescribed performance backstepping controller composed of predetermined performance functions and equivalent transformed errors, which can ensure that the tracking errors converge with the predetermined performance intervals for a class of strict-feedback non-linear systems, is designed within the technique framework of backstepping control. Finally, the stability analysis, two simulation experiments and comparative experiment results are presented to demonstrate the feasibility and effectiveness of the designed controller.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12782","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143113362","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}