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Event-triggered adaptive fault-tolerant control for heterogeneous nonlinear multi-agent systems 异构非线性多代理系统的事件触发自适应容错控制
IF 2.7 4区 计算机科学
Asian Journal of Control Pub Date : 2024-05-23 DOI: 10.1002/asjc.3413
Lin-Xing Xu, Lian-Na Zhao, Yang Li
{"title":"Event-triggered adaptive fault-tolerant control for heterogeneous nonlinear multi-agent systems","authors":"Lin-Xing Xu,&nbsp;Lian-Na Zhao,&nbsp;Yang Li","doi":"10.1002/asjc.3413","DOIUrl":"10.1002/asjc.3413","url":null,"abstract":"<div>\u0000 \u0000 <p>In this paper, a distributed adaptive output feedback consensus tracking control scheme is developed for heterogeneous nonlinear multi-agent systems (MASs) with actuator failures. Unlike most existing results, the parameters in the considered MAS are unknown, and the system's nonlinear functions are not required to satisfy the Lipschitz condition. A kind of K-filters with an additional design parameter is designed to suppress the effects of unknown actuator failures. In addition, an event-triggering mechanism with a switching threshold method is designed to reduce the communication burden. With the proposed control scheme, the tracking error of each subsystem converges exponentially to an adjustable bound. Finally, a nonlinear MAS consisting of multiple single-link robot manipulators is given to verify its effectiveness.</p>\u0000 </div>","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"27 1","pages":"260-275"},"PeriodicalIF":2.7,"publicationDate":"2024-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141104016","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
Model adaptive reference tracking control for uncertain robotic manipulators with input disturbance 具有输入干扰的不确定机器人操纵器的模型自适应参考跟踪控制
IF 2.7 4区 计算机科学
Asian Journal of Control Pub Date : 2024-05-21 DOI: 10.1002/asjc.3405
Thiem V. Pham, Quynh T. Thanh Nguyen
{"title":"Model adaptive reference tracking control for uncertain robotic manipulators with input disturbance","authors":"Thiem V. Pham,&nbsp;Quynh T. Thanh Nguyen","doi":"10.1002/asjc.3405","DOIUrl":"10.1002/asjc.3405","url":null,"abstract":"<p>This article presents a simple approach for designing a linear adaptive controller, employing the model reference systems concept, to enable the tracking of uncertain robotic manipulators under the influence of input disturbances. The combined impact of model uncertainties and matched disturbances on the robot's behavior is considered as a total matched disturbance, attributed to a double integral system. Subsequently, a novel linear disturbance estimator, augmented by a feed-forward correction term, is employed to estimate this lumped disturbance within the double integrator system. As a result of this procedure, the requisite adaptive law, based on the model reference system, is formulated for the nominal control parameter instead of arbitrary free-parameter selections. The effectiveness of the proposed approach is theoretically justified and further supported by its application in the analysis of an active magnetic bearing system.</p>","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"26 6","pages":"3291-3301"},"PeriodicalIF":2.7,"publicationDate":"2024-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141118622","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
Two-channel stealthy false data injection attacks design without estimator knowledge 无需估算器知识的双通道隐形虚假数据注入攻击设计
IF 2.7 4区 计算机科学
Asian Journal of Control Pub Date : 2024-05-19 DOI: 10.1002/asjc.3409
Haoran Wang, Yuwei Ren, Yixian Fang, Ang Liu
{"title":"Two-channel stealthy false data injection attacks design without estimator knowledge","authors":"Haoran Wang,&nbsp;Yuwei Ren,&nbsp;Yixian Fang,&nbsp;Ang Liu","doi":"10.1002/asjc.3409","DOIUrl":"10.1002/asjc.3409","url":null,"abstract":"<p>This paper primarily focuses on designing stealthy false data injection attacks targeting two communication channels in cyber-physical systems equipped with state estimators and attack detectors. It introduces the concept of perfect attacks, rendering the attack detector unable to detect the designed attack signals, thereby enabling attackers to further destabilize the system. Through the error model designed by the attacker, the designed attack does not require knowledge of the state estimator. By injecting a carefully designed perfect attack into the communication channel, it is possible to extend the state estimation error of a residual detector system based on the Kalman filter to infinity. Moreover, this designed attack can bypass the residual-based detector, thus achieving a completely stealthy attack. Finally, the results of theoretical derivations are validated by a numerical example and a practical case.</p>","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"26 6","pages":"3314-3326"},"PeriodicalIF":2.7,"publicationDate":"2024-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141124799","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
Multi-event-based distributed cooperative predictive control for the multi-agent system 基于多事件的多代理系统分布式合作预测控制
IF 2.7 4区 计算机科学
Asian Journal of Control Pub Date : 2024-05-16 DOI: 10.1002/asjc.3408
Guangchen Zhang, Han Gao, Shuping He
{"title":"Multi-event-based distributed cooperative predictive control for the multi-agent system","authors":"Guangchen Zhang,&nbsp;Han Gao,&nbsp;Shuping He","doi":"10.1002/asjc.3408","DOIUrl":"10.1002/asjc.3408","url":null,"abstract":"<p>In this paper, we provide the detailed distributed cooperative predictive control scheme for the multi-agent system (MAS) affected by the network delays. Firstly, we restate the distributed cooperative predictive control problem by introducing iterative learning-based MAS, which can guarantee the cooperative predictive control of the MAS. To alleviate the unfavorable network constrains, the multi-event-triggered conditions are formulated via considering the predictive and error data sufficiently. With these preparations, the well-posed Roesser-type two-dimensional (2D) system is achieved equivalently to the distributed iterative learning predictive system. On this basis, we employ 2D predictive system analysis and control theory to realize the predictive control for the equivalent 2D system and then obtain the collaborative predictive control for the MAS under multi-event-triggered mechanism. The corresponding stability criteria, controller, and observer gains are provided by the executable matrix constraints and algorithms design. To conclude the paper, the numerical example is proposed to illustrate the effectiveness and practicability of the provided methods and algorithms.</p>","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"27 1","pages":"246-259"},"PeriodicalIF":2.7,"publicationDate":"2024-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140966609","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 command filtered control for a class of nonlinear time delay systems with extreme learning machine 利用极端学习机对一类非线性时延系统进行自适应指令滤波控制
IF 2.7 4区 计算机科学
Asian Journal of Control Pub Date : 2024-05-16 DOI: 10.1002/asjc.3411
Jingyang Zhu, Shurong Li
{"title":"Adaptive command filtered control for a class of nonlinear time delay systems with extreme learning machine","authors":"Jingyang Zhu,&nbsp;Shurong Li","doi":"10.1002/asjc.3411","DOIUrl":"10.1002/asjc.3411","url":null,"abstract":"<p>In this paper, an extreme learning machine (ELM)-based adaptive command filtered control method is investigated for a class of strict feedback nonlinear systems with unknown external disturbances and time delay. To begin with, the original system state equation is transformed into a new form on account of coordinate transformation. Subsequently, an ELM is adopted to approximate unknown functions which exist in the whole system states, without any prior knowledges of the ideal weight vectors and approximation errors. Secondly, a command filter is developed for the system under consideration, which can avoid the probem of “explosion of complexity” caused by repeated derivation of virtual control signals in traditional backstepping control. Meanwhile, error compensation signals are designed to conquer the shortcoming of a dynamic surface control (DSC) method. The combination of ELM and command filter technique has been used to construct corresponding controllers and adaptive laws. Effective handling of the impact of time delay terms is ensured through designing a novel Lyapunov–Krasovskii functional. The proposed strategy guarantees boundedness of all signals in the closed-loop system and the tracking error asymptotically converges to a compact set around the origin. In the end, two continuous stirred tank reactors (CSTRs) are taken as example to further verify the efficiency of the put forward control method.</p>","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"27 1","pages":"215-229"},"PeriodicalIF":2.7,"publicationDate":"2024-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140971268","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
An improved Bayesian filter for nonlinear systems under multistep randomly delayed and lost measurements 多步随机延迟和丢失测量条件下非线性系统的改进型贝叶斯滤波器
IF 2.7 4区 计算机科学
Asian Journal of Control Pub Date : 2024-05-14 DOI: 10.1002/asjc.3410
Wenbo Zhang, Guorui Cheng, Shenmin Song
{"title":"An improved Bayesian filter for nonlinear systems under multistep randomly delayed and lost measurements","authors":"Wenbo Zhang,&nbsp;Guorui Cheng,&nbsp;Shenmin Song","doi":"10.1002/asjc.3410","DOIUrl":"10.1002/asjc.3410","url":null,"abstract":"<p>This article addresses the Bayesian filtering problem for a class of nonlinear systems under multistep randomly delayed and lost measurements. A new measurement model is established that can characterize the random delay and loss of measurement data. First, an augmented Gaussian mixture filter framework is developed in the case of random delay of measurement data; the posterior probability density function after state augmentation is calculated by marginalizing over delay variables to extract accurate information from delayed measurements. The implementation of the filter is transformed into the computation of nonlinear numerical integrals. Second, under the proposed framework, novel expressions of the mean and covariance are generated by propagating the measurement taken at the previous moment in the event of no new measurement being received. Finally, we present two simulation examples for estimating system states, and the results demonstrate the effectiveness and superiority of our proposed filter.</p>","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"26 6","pages":"3327-3339"},"PeriodicalIF":2.7,"publicationDate":"2024-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140978894","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
Trajectory tracking of a wheeled mobile robot based on the predefined-time sliding mode control scheme 基于预定义时间滑模控制方案的轮式移动机器人轨迹跟踪
IF 2.7 4区 计算机科学
Asian Journal of Control Pub Date : 2024-05-07 DOI: 10.1002/asjc.3403
Shaoheng Cong, Zhonghua Wang, Meng Li, Yutian Jiang, Ruwei Zhang
{"title":"Trajectory tracking of a wheeled mobile robot based on the predefined-time sliding mode control scheme","authors":"Shaoheng Cong,&nbsp;Zhonghua Wang,&nbsp;Meng Li,&nbsp;Yutian Jiang,&nbsp;Ruwei Zhang","doi":"10.1002/asjc.3403","DOIUrl":"10.1002/asjc.3403","url":null,"abstract":"<p>In this paper, a double-loop control method is proposed to improve the trajectory tracking performance of a wheeled mobile robot (WMR) with slippage properties and external disturbances. Considering the strong robustness and the ability to enable the system to converge in a short time, the predefined-time sliding mode control (PTSMC) strategy is applied to the design of a double-loop controller. Furthermore, a nonlinear disturbance observer (NDO) is adopted to comply with the feedforward compensation of the external disturbances. In turn, the controller only needs to deal with the internal disturbance of the system under the premise of using the NDO, thereby reducing the burden of the sliding mode controller. Based on Lyapunov methods, the stability of the double-loop controller and the NDO is analyzed. Finally, the feasibility of the double-loop control strategy is proven by simulations of the WMR operating along circular, sin-shaped, and eight-shaped roads.</p>","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"26 6","pages":"3275-3290"},"PeriodicalIF":2.7,"publicationDate":"2024-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140930215","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
Weighted information entropy-based Kalman filter for outliers and structural noise 针对异常值和结构性噪声的基于加权信息熵的卡尔曼滤波器
IF 2.7 4区 计算机科学
Asian Journal of Control Pub Date : 2024-05-07 DOI: 10.1002/asjc.3402
Haiping Ma, Jiuyi Yao, Jiyuan Huang, Zheheng Jiang
{"title":"Weighted information entropy-based Kalman filter for outliers and structural noise","authors":"Haiping Ma,&nbsp;Jiuyi Yao,&nbsp;Jiyuan Huang,&nbsp;Zheheng Jiang","doi":"10.1002/asjc.3402","DOIUrl":"10.1002/asjc.3402","url":null,"abstract":"<p>Structural noise and outliers are widely present in real-world state estimate scenarios, and they significantly degrade the performance of most filtering algorithms based on minimum mean square error (MMSE) criterion. To address this problem, this paper first models structural noise and outliers as independent and piecewise identical distribution (IPID). Then, a minimum error weighted entropy-based Kalman filter (MEWE-KF) is proposed, where a new cost function is constructed by introducing a weight function related to error location distances in an original information space into the minimum error entropy (MEE) criterion. Further, the iterative formulations of the proposed filter are derived, and the computational complexity and the convergence are also analyzed. Simulation results show that the proposed filter with adaptive weights has the superior performance for suppressing structural noise and outliers.</p>","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"26 6","pages":"3264-3274"},"PeriodicalIF":2.7,"publicationDate":"2024-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140942248","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 containment fault-tolerant control for saturated nonlinear multiagent systems with multiple faults and periodic disturbances 具有多重故障和周期性扰动的饱和非线性多代理系统的自适应遏制容错控制
IF 2.7 4区 计算机科学
Asian Journal of Control Pub Date : 2024-05-03 DOI: 10.1002/asjc.3401
Li Tang, Huanqing Wang, Ben Niu, Xudong Zhao
{"title":"Adaptive containment fault-tolerant control for saturated nonlinear multiagent systems with multiple faults and periodic disturbances","authors":"Li Tang,&nbsp;Huanqing Wang,&nbsp;Ben Niu,&nbsp;Xudong Zhao","doi":"10.1002/asjc.3401","DOIUrl":"10.1002/asjc.3401","url":null,"abstract":"<p>This paper addresses the problem of adaptive containment fault-tolerant control for nonlinear multiagent systems with periodic disturbances. Different from most existing fault-tolerant control schemes, the form of multiple faults is explicitly considered in this paper, including actuator faults and sensor faults. By combining the Fourier series expansion with neural networks, the unknown nonlinear dynamics subject to time-dependent periodic disturbances are approximated. Then, the “complexity of explosion” issue that exists in traditional backstepping-based results is avoided by introducing a first-order sliding-mode differentiator. It is proved that the developed containment control policies can ensure that all signals of the close-loop systems are uniformly ultimately bounded, and all followers can converge to a convex area formed by multiple leaders. Simulation results verify the validity of the proposed scheme.</p>","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"26 6","pages":"3235-3253"},"PeriodicalIF":2.7,"publicationDate":"2024-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140828225","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
Observer-based controller design for blood glucose regulation for type 1 diabetic patients with disturbance estimation: A backstepping approach 基于扰动估计的 1 型糖尿病患者血糖调节控制器设计：反步进方法
IF 2.7 4区 计算机科学
Asian Journal of Control Pub Date : 2024-05-01 DOI: 10.1002/asjc.3381
Mohamadreza Homayounzade
{"title":"Observer-based controller design for blood glucose regulation for type 1 diabetic patients with disturbance estimation: A backstepping approach","authors":"Mohamadreza Homayounzade","doi":"10.1002/asjc.3381","DOIUrl":"10.1002/asjc.3381","url":null,"abstract":"<p>In this paper, an observer-based nonlinear controller is proposed to regulate blood glucose concentration (BGC) in type 1 diabetes mellitus (T1DM). The considered virtual patient model is the extended Bergmann minimal model, which is augmented by a meal disturbance and adapted to represent the insulin–glucose homeostasis of T1DM. The backstepping (BS) technique is used to design a closed-loop feedback controller. The proposed controller does not need to measure insulin, plasma concentrations, and external disturbances while improving control performance and robustness against uncertainty. Insulin concentrations and plasma levels are estimated using state observers and disturbance using a disturbance estimator. These estimations are used as feedback to the controller. The asymptotic stability of the observer-based controller is proved using the Lyapunov theorem. Furthermore, it is proven that the system is bounded input–bounded output (BIBO) stable in the presence of uncertainties caused by uncertain parameters and external disturbances. For real situations, we consider only the BGC available for measurement, and in addition, inter- and intra-patient variability of system parameters is considered. The results confirm that the proposed controller can asymptotically regulate BGC through appropriate injection of insulin under meal disturbance and \u0000<span></span><math>\u0000 <mo>±</mo>\u0000 <mn>25</mn>\u0000 <mo>%</mo></math> of variations in system parameters.</p>","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"26 6","pages":"2933-2947"},"PeriodicalIF":2.7,"publicationDate":"2024-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140842507","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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