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

Tracking control of chained non-holonomic systems with asymmetric function constraints and external disturbance 具有非对称功能约束和外部干扰的链式非自主系统的跟踪控制

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-04-08 DOI: 10.1049/cth2.12659

Jing Yang, Yuqiang Wu

引用次数: 0

Zero/low overshoot conditions based on maximally-flatness for PID-type controller design for uncertain systems with time-delay or zeros 基于最大平坦度的零/低过冲条件，为具有时间延迟或零的不确定系统设计 PID 型控制器

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-04-08 DOI: 10.1049/cth2.12646

Mehmet Canevi, Mehmet Turan Söylemez

{"title":"Zero/low overshoot conditions based on maximally-flatness for PID-type controller design for uncertain systems with time-delay or zeros","authors":"Mehmet Canevi, Mehmet Turan Söylemez","doi":"10.1049/cth2.12646","DOIUrl":"10.1049/cth2.12646","url":null,"abstract":"This paper extends the characteristic ratio approach using novel inequalities to ensure zero/low overshoot for linear-time-invariant systems with zeros. The extension provided by this paper is based on the maximally-flatness property of a transfer function, where the square-magnitude of the transfer function is ensured to be a low-pass filter. In order to be able to design low-order/fixed structure controllers, a partial pole-assignment approach is used instead of the full pole-assignment used in the Characteristic Ratio Assignment (CRA) method. The developed inequalities and additional stability conditions are combined into an optimization problem using time domain restrictions when necessary. Although the method given in the paper is general, particular inequalities are developed for PI and PI-PD controller cases, due to their frequent use in industrial applications. Similarly, First-Order-Plus-Delay-Time (FOPDT) and Second-Order-Plus-Delay-Time (SOPDT) systems are considered specifically, since most of the practical systems can be approximated by one of these types. The study is extended to plants with uncertainties where a theorem is developed to decrease computation time dramatically. The benefits of the proposed methods are demonstrated by several examples.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 8","pages":"1070-1084"},"PeriodicalIF":2.6,"publicationDate":"2024-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12646","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140731085","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

Finite-time stabilization control of nonlinear systems with full-state constraints 具有全状态约束的非线性系统的有限时间稳定控制

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-04-06 DOI: 10.1049/cth2.12655

Jianwen Liu, Xiao Yan, Lin Zhang, Fujin Jia, Ni Yang

引用次数: 0

Event-triggered adaptive fuzzy bipartite containment control for switched nonlinear multi-agent systems with actuator attacks 针对具有执行器攻击的开关式非线性多代理系统的事件触发自适应模糊双方框控制

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-04-04 DOI: 10.1049/cth2.12654

Chao Liu, Ben Niu, Yuqiang Jiang, Xinyu Liu, Shengtao Li

引用次数: 0

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":"18 9","pages":"1200-1209"},"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":"18 8","pages":"1032-1044"},"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":"18 7","pages":"960-975"},"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":"18 8","pages":"987-997"},"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