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Extended state observer‐based trajectory tracking control of a wheeled mobile robot with one unpowered trailer 基于扩展状态观测器的轮式移动机器人轨迹跟踪控制，带一个无动力拖车
IF 2.4 4区 计算机科学
Asian Journal of Control Pub Date : 2024-08-27 DOI: 10.1002/asjc.3489
Hongjiu Yang, Ran Dang, Peng Li
{"title":"Extended state observer‐based trajectory tracking control of a wheeled mobile robot with one unpowered trailer","authors":"Hongjiu Yang, Ran Dang, Peng Li","doi":"10.1002/asjc.3489","DOIUrl":"https://doi.org/10.1002/asjc.3489","url":null,"abstract":"In this paper, trajectory tracking control is investigated for a wheeled mobile robot with one unpowered trailer using an extended state observer (ESO). The unpowered trailer is added to improve load capacity, which results in a large impact on trajectory tracking as a slow‐varying and large disturbance. A backstepping controller is proposed to generate desired velocities in an outer loop of a double closed‐loop structure. The ESO is employed in an inner loop to estimate the slow‐varying and large disturbance from the unpowered trailer. An integral sliding mode controller is also designed in the inner loop to track the desired velocities from the outer loop. Stability analysis for the ESO, the backstepping controller and the integral sliding mode controller is conducted via Lyapunov methods. Simulation results are provided to show the effectiveness of the trajectory tracking control for a wheeled mobile robot with one unpowered trailer.","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"32 1","pages":""},"PeriodicalIF":2.4,"publicationDate":"2024-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186318","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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
Adaptive fault-tolerant control for air cushion vehicle with fixed-time convergence 具有固定时间收敛性的气垫车自适应容错控制
IF 2.7 4区 计算机科学
Asian Journal of Control Pub Date : 2024-08-22 DOI: 10.1002/asjc.3452
Bai Dan, Fu Mingyu, Deng Hanbo, Wang Qiusu
{"title":"Adaptive fault-tolerant control for air cushion vehicle with fixed-time convergence","authors":"Bai Dan,&nbsp;Fu Mingyu,&nbsp;Deng Hanbo,&nbsp;Wang Qiusu","doi":"10.1002/asjc.3452","DOIUrl":"10.1002/asjc.3452","url":null,"abstract":"<p>This paper proposes a fixed-time convergence adaptive sliding mode fault-tolerant controller (ASFTC) to address the air cushion vehicle (ACV) trajectory tracking problem under unknown environmental disturbances and actuator faults. The introduced method enhances the robustness and reduces the chattering of the controller, by proposing an initial state-independent fixed-time convergence method combined with a global sliding mode surface which has the advantage of quickly reaching the “sliding mode”. The model knowledge neural network (MKNN) method is employed to eliminate uncertain parameter effects, and it adjusts disturbance and fault estimates in real time based on tracking errors without the need for upper-bound disturbance information and additional observer compensation. Finally, simulations validate the effectiveness of the proposed adaptive fault-tolerant control system.</p>","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"27 1","pages":"553-563"},"PeriodicalIF":2.7,"publicationDate":"2024-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186321","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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
Adaptive learning control for group consensus tracking of discrete nonlinear multiagent systems 离散非线性多代理系统群体共识跟踪的自适应学习控制
IF 2.4 4区 计算机科学
Asian Journal of Control Pub Date : 2024-08-16 DOI: 10.1002/asjc.3477
Qianhui Gao, Jinsha Li, Junmin Li
{"title":"Adaptive learning control for group consensus tracking of discrete nonlinear multiagent systems","authors":"Qianhui Gao, Jinsha Li, Junmin Li","doi":"10.1002/asjc.3477","DOIUrl":"https://doi.org/10.1002/asjc.3477","url":null,"abstract":"In this article, we explore the group output tracking consensus problem for discrete‐time strict‐feedback ‐order nonlinear multiagent systems that run repeatedly on finite time . A novel distributed adaptive iterative learning group consensus protocol is designed, which consists of two main components. The first component is based on time‐varying neural networks, which is used to approximate the unknown nonlinear function in the ‐step ahead predictor. In general, not all followers can access the information regarding the leader, which complicates the design of iterative learning protocols for MASs. Therefore, the second component of the protocol addresses this challenge by treating the leader's output as a time‐varying parameter and designing a time‐varying auxiliary term to compensate the leader's output information. Parameter updating laws and initial state learning laws are also proposed via the cooperative‐competitive relationship between the agents. We demonstrate the group consensus with sufficient small errors can be achieved at time , as the number of iterations proceed to infinity. Then, the results are extended to the case of multisubgroups and multileaders. Finally, two simulations validate the findings of this article.","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"9 1","pages":""},"PeriodicalIF":2.4,"publicationDate":"2024-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186319","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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
Discrete‐time Pontryagin maximum principle under rate constraints: Necessary conditions for optimality 速率约束下的离散时间庞特里亚金最大原则：最优化的必要条件
IF 2.4 4区 计算机科学
Asian Journal of Control Pub Date : 2024-08-16 DOI: 10.1002/asjc.3482
Siddhartha Ganguly, Souvik Das, Debasish Chatterjee, Ravi Banavar
{"title":"Discrete‐time Pontryagin maximum principle under rate constraints: Necessary conditions for optimality","authors":"Siddhartha Ganguly, Souvik Das, Debasish Chatterjee, Ravi Banavar","doi":"10.1002/asjc.3482","DOIUrl":"https://doi.org/10.1002/asjc.3482","url":null,"abstract":"SummaryLimited bandwidth and limited saturation in actuators are practical concerns in control systems. Mathematically, these limitations manifest as constraints imposed on the control actions, their rates of change, and, more generally, the global behavior of their paths. While the problem of actuator saturation has been studied extensively, little attention has been devoted to the problem of actuators having limited bandwidth. While attempts have been made in the direction of incorporating frequency constraints on state‐action trajectories before, rate constraints on the control at the design stage have not been studied extensively in the discrete‐time regime. This article contributes toward filling this lacuna: We establish a new discrete‐time Pontryagin maximum principle with <jats:italic>rate constraints</jats:italic> imposed on the control trajectories and derive first‐order necessary conditions for optimality. A brief discussion on the existence of optimal control is also included.","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"58 1","pages":""},"PeriodicalIF":2.4,"publicationDate":"2024-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186320","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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
Stability analysis of polynomials with an approach of differential topology 用微分拓扑学方法分析多项式的稳定性
IF 2.4 4区 计算机科学
Asian Journal of Control Pub Date : 2024-08-14 DOI: 10.1002/asjc.3476
Eleazar López‐Flores, Baltazar Aguirre‐Hernández, Martín Eduardo Frías‐Armenta
{"title":"Stability analysis of polynomials with an approach of differential topology","authors":"Eleazar López‐Flores, Baltazar Aguirre‐Hernández, Martín Eduardo Frías‐Armenta","doi":"10.1002/asjc.3476","DOIUrl":"https://doi.org/10.1002/asjc.3476","url":null,"abstract":"SummaryIn this paper, we study the Hurwitz stability of polynomials. By considering that a degree Hurwitz polynomial has its corresponding Markov parameters, we define the set in Section 3, we also define . Based on properties of the Hankel matrices and the stability test, as well as by using ideas of differential topology, we show that is a fiber bundle with a base. This result allows us to obtain an interesting application: Given a Hurwitz polynomial, we can generate two families of positive definite Hankel matrices.","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"22 1","pages":""},"PeriodicalIF":2.4,"publicationDate":"2024-08-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142227794","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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
Hidden Markov model‐based filtering for 2‐D Markov jump Roesser systems subject to analog fading channels 基于隐马尔可夫模型的二维马尔可夫跃迁 Roesser 系统模拟衰减信道滤波技术
IF 2.4 4区 计算机科学
Asian Journal of Control Pub Date : 2024-08-12 DOI: 10.1002/asjc.3479
Zhenghao Ni, Feng Li, Lei Su, Xihong Fei, Jing Wang
{"title":"Hidden Markov model‐based filtering for 2‐D Markov jump Roesser systems subject to analog fading channels","authors":"Zhenghao Ni, Feng Li, Lei Su, Xihong Fei, Jing Wang","doi":"10.1002/asjc.3479","DOIUrl":"https://doi.org/10.1002/asjc.3479","url":null,"abstract":"This article considers the filtering problem for 2‐D Markov jump Roesser systems, in which the measurement signal is transmitted via analog fading channels. The time‐varying amplitude attenuation of the analog fading channels is described by the fading gain modeled as a random variable. The hidden Markov model is used to deal with the mode mismatch phenomenon between the plant and the filter, then a full‐order asynchronous filter is designed for 2‐D Markov jump Roesser systems under analog fading channels. The purpose is to introduce a filter to guarantee that the filtering error system is not only asymptotically mean square stable, but also satisfies the disturbance attenuation performance. An improved decoupling method is proposed to acquire the 2‐D filter parameters such that the conservatism of the 2‐D filter designed law can be effectively reduced. Finally, a verification example and Darboux equation are given to illustrate the validity of the introduced asynchronous filter design law.","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"25 1","pages":""},"PeriodicalIF":2.4,"publicationDate":"2024-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186322","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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
Super twisting controller using proportional integral‐based sliding surface for buck converter with disturbances 使用基于比例积分的滑动面的超级扭转控制器用于有干扰的降压转换器
IF 2.4 4区 计算机科学
Asian Journal of Control Pub Date : 2024-08-02 DOI: 10.1002/asjc.3474
Ferhat Bodur, Orhan Kaplan
{"title":"Super twisting controller using proportional integral‐based sliding surface for buck converter with disturbances","authors":"Ferhat Bodur, Orhan Kaplan","doi":"10.1002/asjc.3474","DOIUrl":"https://doi.org/10.1002/asjc.3474","url":null,"abstract":"This paper proposes a super‐twisting controller based on a PI‐based surface for a buck converter with matched disturbance. Standard sliding mode control (SMC) has some well‐known drawbacks: the chattering effect and parameter restriction, which determines how quickly the controller accesses the sliding surface and the steady‐state error. First, the super‐twisting algorithm is employed in the control rule of the proposed controller to suppress the chattering effect. Then, parameter limitation, another deficiency of the SMC, has been eliminated by employing a PI‐based surface. The PI‐based surface also improves the controller's adjustment parameters by developing adaptability in parameter choices. The buck converter's dynamic response is enhanced by the addition of a novel parameter to the sliding surface of the suggested controller. Furthermore, Lyapunov stability analysis is described in order to evaluate the theoretical stability of the proposed controller. The efficacy of the suggested controller has been demonstrated through an array of simulations and an experimental configuration across various evaluation conditions. The simulation and experimental results show that the reference‐tracking capability is effective in the presence of disturbances. Furthermore, the proposed switching rule effectively eliminates the chattering effect. The suggested controller outperforms existing techniques in terms of both dynamic performance and disturbance robustness.","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"148 1","pages":""},"PeriodicalIF":2.4,"publicationDate":"2024-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141883640","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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
Fault‐tolerant control of unmanned marine vehicles with unknown parametric dynamics via integral sliding mode output feedback control 通过积分滑动模式输出反馈控制对具有未知参数动态特性的无人海上航行器进行容错控制
IF 2.4 4区 计算机科学
Asian Journal of Control Pub Date : 2024-07-30 DOI: 10.1002/asjc.3475
Li‐Ying Hao, Xin Yang, Yu‐Qing Zhang, Hudayberenov Atajan, Yanli Liu
{"title":"Fault‐tolerant control of unmanned marine vehicles with unknown parametric dynamics via integral sliding mode output feedback control","authors":"Li‐Ying Hao, Xin Yang, Yu‐Qing Zhang, Hudayberenov Atajan, Yanli Liu","doi":"10.1002/asjc.3475","DOIUrl":"https://doi.org/10.1002/asjc.3475","url":null,"abstract":"This paper focuses on fault‐tolerant control (FTC) for unmanned marine vehicles (UMVs) subject to unknown parametric dynamics, thruster faults, and external disturbances. A novel FTC strategy based on the integral sliding mode output feedback method is proposed. Based on a high gain compensator and output information, a novel integral sliding mode fault‐tolerant controller is constructed to guarantee the dynamic positioning (DP) of UMVs. An attraction region that is related to the known positive constants with respect to dynamic uncertainties has been revealed for the first time. Finally, the closed‐loop stability can be guaranteed from the every initial time in despite of unknown parametric dynamics, thruster faults, and external disturbances. Simulation though a typical floating production ship model has verified the effectiveness of the proposed method.","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"74 1","pages":""},"PeriodicalIF":2.4,"publicationDate":"2024-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141869483","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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
Recursive multi‐sensor fusion estimation under the coding‐based relay network 基于编码的中继网络下的递归多传感器融合估算
IF 2.4 4区 计算机科学
Asian Journal of Control Pub Date : 2024-07-26 DOI: 10.1002/asjc.3473
Mengyao Zhang, Shuai Liu, Junyong Deng
{"title":"Recursive multi‐sensor fusion estimation under the coding‐based relay network","authors":"Mengyao Zhang, Shuai Liu, Junyong Deng","doi":"10.1002/asjc.3473","DOIUrl":"https://doi.org/10.1002/asjc.3473","url":null,"abstract":"This paper studies the recursive fusion estimation issue for a class of linear time‐varying multi‐sensor systems with amplify‐and‐forward (AF) relays. The AF relay is located between the sensor and the estimator to forward measurement signals for facilitating long‐distance transmission. A binary encoding scheme is used to regulate signal transmission via a digital network where the signal is encoded into a bit string and decoded at the endpoint of the receiver. Because of the uncertainty of the network and the existence of channel noises, a set of Bernoulli distributed random variables is introduced to characterize the random bit flip phenomenon. The purpose of the addressed problem is to design a fusion estimator to simultaneously reflect the impact of multiplicative noises, the AF relay, the binary encoding scheme, and the random bit flip on the filtering error covariance. First of all, an upper bound for the filtering error covariance of the local estimator can be acquired, and by minimizing such an upper bound, the parametric form of the gain matrix is obtained. Subsequently, the fusion estimation is given based on the covariance intersection fusion strategy. Finally, a simulation example is presented to verify the effectiveness of the proposed multi‐sensor fusion estimation.","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"116 1","pages":""},"PeriodicalIF":2.4,"publicationDate":"2024-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141785193","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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
Fixed‐time fault‐tolerant control for power system with multiple actuator constraints 具有多执行器约束的电力系统的固定时间容错控制
IF 2.4 4区 计算机科学
Asian Journal of Control Pub Date : 2024-07-25 DOI: 10.1002/asjc.3471
Wen Bai, Peter Xiaoping Liu, Huanqing Wang
{"title":"Fixed‐time fault‐tolerant control for power system with multiple actuator constraints","authors":"Wen Bai, Peter Xiaoping Liu, Huanqing Wang","doi":"10.1002/asjc.3471","DOIUrl":"https://doi.org/10.1002/asjc.3471","url":null,"abstract":"This paper copes with the fixed‐time fault‐tolerant control problem for a single‐machine infinite power system with static VAR compensators. In order to handle the controller design problem caused by the actuator failures and unknown dead zone input, a fuzzy fault‐tolerant control algorithm is derived by introducing the adaptive backstepping method. An adaptive fixed‐time control strategy is designed to guarantee that the output signal can track the desired trajectory within a fixed time, where the convergence time is independent of the initial condition. Compared with existing results, the proposed controller guarantees the controlled system maintains semiglobal fixed‐time stability and the tracking error converges to a small neighborhood around zero. Both actuator faults and dead zones have been considered, which can better meet the practical control requirements. A simulation example demonstrates the designed controller.","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"28 1","pages":""},"PeriodicalIF":2.4,"publicationDate":"2024-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141772317","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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
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