European Journal of Control最新文献_第2页

Disturbance rejection for switched singular systems using state decomposition technique and equivalent-input-disturbance with a dynamic state observer 利用状态分解技术和等效输入扰动与动态状态观测器实现开关奇异系统的扰动抑制

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-09-12 DOI: 10.1016/j.ejcon.2024.101113

{"title":"Disturbance rejection for switched singular systems using state decomposition technique and equivalent-input-disturbance with a dynamic state observer","authors":"","doi":"10.1016/j.ejcon.2024.101113","DOIUrl":"10.1016/j.ejcon.2024.101113","url":null,"abstract":"<div><p>In this study, an equivalent-input-disturbance (EID) method with a dynamic state observer and a state decomposition technique (SDT) are used to explore the disturbance rejection of a class of linear switched singular systems. The EID approach defines an EID signal, is defined for the control input channel and has the same impact on the system as exogenous disturbances. Additionally, it employs an observer to estimate the EID and achieves good disturbance-rejection performance. However, in the EID method, the coefficient matrix of the observer needs to be consistent with the coefficient matrix of the original system, which limits the application of the method. So, a dynamic state observer is designed to reconstruct the system state and estimate the disturbance in this study. Based on the state feedback control strategy, a disturbance-rejection control law containing disturbance information is designed and a closed-loop control system structure is established. Subsequently, the state equation of the closed-loop system is reorganized and decomposed into an algebraic equation and a differential equation using the SDT. Then, a Lyapunov function with few decision variables is designed to obtain an admissible criterion for the closed-loop system and the controller gains under arbitrary switching signals. Finally, the effectiveness of the presented method is verified via numerical simulations.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2024-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142239070","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Event-triggered finite-time extended dissipative control for switched linear neutral systems with time-varying delays and frequent asynchronism 具有时变延迟和频繁异步的开关线性中性系统的事件触发有限时间扩展耗散控制

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-09-05 DOI: 10.1016/j.ejcon.2024.101102

{"title":"Event-triggered finite-time extended dissipative control for switched linear neutral systems with time-varying delays and frequent asynchronism","authors":"","doi":"10.1016/j.ejcon.2024.101102","DOIUrl":"10.1016/j.ejcon.2024.101102","url":null,"abstract":"<div><p>This study focuses on the event-triggered finite-time extended dissipative control for the switched linear neutral systems with time-varying delays and frequent asynchronism. In comparison to previous event-triggered control, which restrict the minimum dwell time, we allow frequent switching to occur within an inter-event interval based on average dwell time (ADT) approach. Firstly, given the challenge of acquiring all information about the state, a dynamic output feedback controller (DOFC) is adopted to stabilize the switched neutral system. Secondly, the subjects of finite-time boundedness and extended dissipative performance for the resulting closed-loop system are analyzed by means of controller-mode-dependent Lyapunov functional. Furthermore, a lemma is applied to establish the sufficient criteria for co-designing the DOFC and mode-dependent event-triggered mechanism (ETM). Additionally, it is demonstrated that the Zeno phenomenon cannot occur since there exists a positive minimum threshold on the inter-event intervals. Finally, two examples are given to illustrate the efficacy of the obtained methods.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2024-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142151396","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Dynamic output feedback control of uncertain nonlinear systems based on co-design adaptive event-triggered scheme 基于协同设计自适应事件触发方案的不确定非线性系统动态输出反馈控制

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-09-01 DOI: 10.1016/j.ejcon.2024.101022

引用次数: 0

Input delay compensation of nonlinear systems with uncertain time-varying parameters 具有不确定时变参数的非线性系统的输入延迟补偿

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-08-31 DOI: 10.1016/j.ejcon.2024.101100

引用次数: 0

Minimum-energy switching geometric filter on lie groups for differential-drive wheeled mobile robots 用于差速驱动轮式移动机器人的最小能量切换几何滤波器

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-08-31 DOI: 10.1016/j.ejcon.2024.101101

{"title":"Minimum-energy switching geometric filter on lie groups for differential-drive wheeled mobile robots","authors":"","doi":"10.1016/j.ejcon.2024.101101","DOIUrl":"10.1016/j.ejcon.2024.101101","url":null,"abstract":"<div><p>Accurate state estimation plays a critical role in various applications, such as tracking, regulation, and fault detection in robotic and mechanical systems. Typically, the Kalman–Bucy filter is used as a linear state observer for this purpose. However, real-world robots often exhibit complex behavior, characterized by a combination of dynamics, making it essential to employ hybrid filters. In this context, the Switching Kalman filter stands out as a well-established solution. In this article we aim to generalize the Brownian-Markov Stochastic Model, a hybrid dynamic model for differential-drive wheeled mobile robots, to the case of a mobile robot whose center of mass is not aligned to the wheels axle middle point, and to design a geometric hybrid state estimator by exploiting the Lie groups theory. The Brownian-Markov Stochastic Model features two modes: “grip” and “slip”. These modes correspond to ideal grip and lateral slippage, with transitions governed by a state-dependent Markov chain. To validate the proposed switching filter, we conduct MATLAB® simulations of the robot’s motion in a scenario prone to lateral grip loss, comparing the state estimates produced by the switching geometric filter with those obtained using the switching Kalman filter.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2024-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142151395","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Equivalent conditions for the synchronization of identical linear systems over arbitrary interconnections 任意互联上相同线性系统同步的等效条件

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-08-31 DOI: 10.1016/j.ejcon.2024.101099

引用次数: 0

Investigation of sliding mode dynamics and near-optimal controls for a reaction–diffusion population model in a polluted environment 污染环境中反应扩散群体模型的滑动模式动力学和近优控制研究

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-08-14 DOI: 10.1016/j.ejcon.2024.101097

引用次数: 0

Optimal control of LQ problem with anticipative partial observations 具有预期部分观测的 LQ 问题的优化控制

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-08-08 DOI: 10.1016/j.ejcon.2024.101095

引用次数: 0

Adaptive dynamic event-triggered fault tolerant control for uncertain strict-feedback nonlinear systems 不确定严格反馈非线性系统的自适应动态事件触发容错控制

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-08-06 DOI: 10.1016/j.ejcon.2024.101096

引用次数: 0

Nearly optimal fixed time sliding mode controller for leader–follower consensus problem with partially unknown nonlinear agents 部分未知非线性代理的领导者-追随者共识问题的近最优固定时间滑动模式控制器

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-07-26 DOI: 10.1016/j.ejcon.2024.101093

{"title":"Nearly optimal fixed time sliding mode controller for leader–follower consensus problem with partially unknown nonlinear agents","authors":"","doi":"10.1016/j.ejcon.2024.101093","DOIUrl":"10.1016/j.ejcon.2024.101093","url":null,"abstract":"<div><p>This paper presents a conceptual framework for addressing the consensus problem in multi-agent systems with unknown nonlinear dynamics using reinforcement learning (RL) based nearly optimal sliding mode controller (SMC). The agents’ dynamics are assumed to have uncertainty and mismatched disturbance. An adaptive fixed-time estimator is introduced to estimate uncertain dynamics and disturbances for each agent at a certain time. The paper proposes two control strategies. In the first strategy, a controller is designed, incorporating adaptive SMC and an optimal controller. Adaption law in SMC estimates the bound of fixed time estimator error before convergence, ultimately achieving asymptotic convergence to the sliding surface and converting the agent’s dynamics to linear. This enables solving a linear consensus problem using an RL-based adaptive optimal controller through an on-policy critic–actor method. The second control strategy enhances the adaptive SMC into a fixed-time controller, reducing the time to reach the sliding surface regardless of initial conditions. Consequently, the convergence time of the consensus error to zero is diminished. This reduction in reaching time results in faster convergence of the consensus error to zero. The effectiveness of both strategies is validated through numerical experiments on two real system models, aligning with the theoretical proofs.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2024-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141849467","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0