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adaptive quantized control for a Class of Hysteresis Nonlinear System With Irregular Constraints and Its Application to Piezoelectric Positioning Stage

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2025年 22卷 11589-11600页

作者： Hu, Heyu Wen, Shengjun Yu, Jun Jiang, Changan Zhongyuan Univ Technol Zhongyuan Peterburg Aviat Coll Zhengzhou 450007 Peoples R China Osaka Inst Technol Dept Robot Kita Ku Osaka 5308568 Japan

This paper investigates the tracking control problem of hysteresis nonlinear systems with irregular constraint boundaries. By blending the constraint boundary with the barrier function and using the system transformation technique, an adaptive quantized tracking control scheme is developed, in which three significant advantages are obtained: 1) Compared with traditional constraint control methods, the constraints considered in this work only need to satisfy the condition of piecewise differentiability, which may be time-varying, asymmetric, and may appear in stages;2) The designed controller can maintain the state within the boundary range where constraints are active, effectively managing situations where constraints and non-constraints alternate. 3) The quantizer used combines logarithmic and uniform quantizers, effectively reducing communication costs and maintaining acceptable quantization errors, which ultimately improves the overall system performance. The method's effectiveness and superiority are validated through experiments conducted on a piezoelectric-driven motion system.

关键词： Hysteresis Quantization (signal) Nonlinear systems Smart materials Adaptation models System performance Piezoelectric actuators Mathematical models Automation Training Irregular constraints system transformation piezoelectric actuator adaptive quantized control

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adaptive quantized control for hypersonic flight vehicles subject to actuator faults and backlash nonlinearity

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JOURNAL OF THE FRANKLIN INSTITUTE 2025年第2期362卷

作者： Wang, Zhihui Wang, Chenliang Bai, Linling Wang, Yu Qiao, Jianzhong Guo, Lei Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China

In this paper, an adaptive quantized control scheme is proposed for a class of hypersonic flight vehicles with actuator faults and elevator backlash. An improved hysteretic quantizer is employed to reduce the communication burden and chattering phenomenon, whose parameters are allowed to be freely changed according to tracking performance and communication capability. By designing adaptive laws to estimate the bounds of time-varying uncertainties, the impacts of the actuator faults, the input quantization and the backlash nonlinearity are successfully compensated for and boundedness of all the closed-loop signals is ensured. Meanwhile, by introducing a double transformation technique, both the altitude and the velocity of the vehicle can track desired trajectories with prescribed transient and steady-state performance, which implies that the proposed adaptive quantized control scheme provides satisfactory tracking performance in addition to higher reliability. The effectiveness of the proposed scheme is demonstrated via simulation results.

关键词： Hypersonic flight vehicles adaptive quantized control Actuator faults Backlash nonlinearity

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adaptive quantized control of Output Feedback Nonlinear Systems With Input Unmodeled Dynamics Based on Backstepping and Small-Gain Method

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2021年第9期51卷 5686-5697页

作者： Xia, Xiaonan Zhang, Tianping Fang, Yu Kang, Guanpeng Yangzhou Univ Coll Informat Engn Dept Automat Yangzhou 225127 Jiangsu Peoples R China

In this article, an adaptive quantized neural backstepping strategy is investigated for a class of nonlinear systems with input unmodeled dynamics and output constraints based on the small-gain method. A challenge lies in the considered input-quantized actuator possessing both unknown control gain and input unmodeled dynamics, and the application of the small-gain theorem when the system possesses input unmodeled dynamics and the output constraints. By the coordinate transformation of the state variables, the input unmodeled dynamics subsystem is transformed into a suitable form for applying the small-gain theorem. By a logarithmic one to one mapping, the time-varying output constraints are tackled. With these methods, the stability proof based on the small-gain theorem is completed. It is shown that all the signals are bounded, and the output signal is constrained within the preset range.

关键词： Nonlinear dynamical systems adaptive systems Quantization (signal) Stability analysis Backstepping Hysteresis adaptive quantized control backstepping small-gain combined control input unmodeled dynamics logarithmic-uniform hysteretic quantizer output constraints

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Fault-Tolerant adaptive quantized control of Strict-Feedback Nonlinear Systems

Fault-Tolerant Adaptive Quantized Control of Strict-Feedback...

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2024 International Conference on Guidance, Navigation and control

作者： Li, Yajun Pan, Rui Li, Jinping Chang, Jiang Gao, Dengwei Xian Modern Control Technol Res Inst Xian 710065 Peoples R China

ISBN: (纸本)9789819622306;9789819622283;9789819622276

A fault-tolerant adaptive quantized control algorithm is developed for strict-feedback nonlinear systems with uncertainties. The design of the controller follows the backstepping process. The unknown nonlinearities in the system are estimated by applying fuzzy logic systems, and a new unified compensation method is developed to handle the control quantization and actuator faults simultaneously. The total count of learning parameters is reduced to just one by further applying the bound estimation technique, which achieves a considerable computational complexity reduction. The semi-global uniform ultimate boundedness (SGUUB) is confirmed in the stability analysis process, and the effectiveness of the quantized control design is demonstrated through numerical simulation.

关键词： adaptive quantized control Fault-tolerant Fuzzy Logic Systems Unified Compensation Bound Estimation

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adaptive quantized Tracking control for Non-Linear Systems With Sensor Failure and Output Constraint

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2025年第9期35卷 3876-3886页

作者： Yu, Xiaowei Li, Xiaoli Beijing Univ Technol Sch Informat Sci & Technol Beijing Peoples R China

This paper focuses on adaptive quantized tracking control for a class of non-linear systems that experience sensor failure and output constraint. The non-linear functions in this study adhere to more general growth conditions compared to previous research. To address these challenges, a reduced-order observer is developed using only the measured output signal in the presence of sensor failure. Then by utilizing the barrier Lyapunov function technique, a quantized tracking controller is proposed. The study demonstrates that with this approach, all closed-loop signals remain bounded and the real tracking error converges to a small neighborhood around the origin, while ensuring that the real output signal adheres to the constraint. An illustrative example is also presented to validate the efficacy of the control strategy.

关键词： adaptive quantized control output constraint reduced-order observer sensor failure

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adaptive Consensus quantized control for a Class of High-Order Nonlinear Multi-Agent Systems With Input Hysteresis and Full State Constraints

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1574-1589页

作者： Guoqiang Zhu Haoqi Li Xiuyu Zhang Chenliang Wang Chun-Yi Su Jiangping Hu the School of Automation Engineering Northeast Electric Power UniversityJilin 132012 the Jilin Province International Research Center of Precision Drive and Intelligent Control Jilin 132012China the School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China the Department of Mechanical and Industrial Engineering Concordia UniversityQCMontrealH3B 1R6Canada the School of Automation Engineering University of Electronic Science and Technology of ChinaChengdu 611731China(

For a class of high-order nonlinear multi-agent systems with input hysteresis,an adaptive consensus output-feedback quantized control scheme with full state constraints is *** major properties of the proposed control scheme are:1)According to the different hysteresis input characteristics of each agent in the multi-agent system,a hysteresis quantization inverse compensator is designed to eliminate the influence of hysteresis characteristics on the system while ensuring that the quantized signal maintains the desired value.2)A barrier Lyapunov function is introduced for the first time in the hysteretic multi-agent *** constructing state constraint control strategy for the hysteretic multi-agent system,it ensures that all the states of the system are always maintained within a predetermined range.3)The designed adaptive consensus output-feedback quantization control scheme allows the hysteretic system to have unknown parameters and unknown disturbance,and ensures that the input signal transmitted between agents is the quantization value,and the introduced quantizer is implemented under the condition that only its sector bound property is *** stability analysis has proved that all signals of the closed-loop are semi-globally uniformly *** Star Sim hardware-in-the-loop simulation certificates the effectiveness of the proposed adaptive quantized control scheme.

关键词： adaptive quantized control barrier Lyapunov function input hysteresis multi-agent systems

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Compound adaptive Fuzzy quantized control for Quadrotor and Its Experimental Verification

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IEEE TRANSACTIONS ON CYBERNETICS 2021年第3期51卷 1121-1133页

作者： Zhang, Xiuyu Wang, Yue Zhu, Guoqiang Chen, Xinkai Li, Zhi Wang, Chenliang Su, Chun-Yi Northeast Elect Power Univ Sch Automat Engn Jilin 132012 Jilin Peoples R China Northeast Elect Power Univ Dept Jilin Prov Int Res Ctr Precis Dr & Intellige Jilin 132012 Jilin Peoples R China Shibaura Inst Technol Dept Elect & Informat Syst Saitama 3378570 Japan Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110819 Peoples R China Beihang Univ Sch Automat Beijing 100191 Peoples R China Concordia Univ Dept Mech & Ind Engn Montreal PQ H3B 1R6 Canada

This article aims to realize a precise position and attitude tracking control for the quadrotor using a proposed fuzzy approximator-based compound adaptive fuzzy quantized control scheme. In the control scheme, a quantized output-feedback control for position tracking and a state-feedback quantized control for attitude trajectory tracking are combined to deal with the underactuated and strong coupling problems of the quadrotor. The main contributions are: 1) the adaptive fuzzy quantized control is realized, then the strong nonlinearities caused by the quantizer are effectively mitigated, which implies that the control precision can be improved when a low communication rate is required in the real-time control system of quadrotor;2) by applying the adaptive fuzzy dynamic surface control (DSC) technique to the underactuated quadrotor control system, the "explosion of complexity" problem in the backstepping method is overcome and the L-infinity tracking performance is achieved with the proposed initializing technique inspired by Zhang et al. This guarantees that the attitude signals promptly converge to the desired trajectories, then the underactuated problem of the quadrotor is overcome by solving the designed adaptive fuzzy-quantized control equations;and 3) the experiments on the platform of the Quanser Qball-X4 quadrotor are conducted and the effectiveness of the proposed control scheme is validated.

关键词： adaptive quantized control quadrotor robust adaptive control

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adaptive Fuzzy quantized control for Nonlinear Systems With Hysteretic Actuator Using a New Filter-Connected Quantizer

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IEEE TRANSACTIONS ON CYBERNETICS 2020年第3期50卷 876-889页

作者： Wu, Honghui Liu, Zhi Zhang, Yun Chen, C. L. Philip Guangdong Univ Technol Sch Automat Guangzhou 510006 Peoples R China Univ Macau Fac Sci & Technol Macau 999078 Peoples R China Dalian Maritime Univ Nav Coll Dalian 116026 Peoples R China Chinese Acad Sci Inst Automat Beijing 100190 Peoples R China

This paper aims at the issue of adaptive fuzzy quantized control for a class of uncertain nonlinear systems preceded by unknown actuator hysteresis. One challenging problem that obstructs the development of the control scheme is that the direct application of the quantized signal containing high-frequency components to the hysteretic actuator will lead to system performance deterioration. To resolve this challenge, we propose a filter-connected quantizer in which a hysteretic quantizer is employed to reduce the communication rate and an adaptive high-cut filter is designed to smooth the hysteresis input. Furthermore, based on fuzzy logic systems' online approximation capability, a novel adaptive fuzzy control scheme involves a new control strategy and an adaptive strategy is constructed via a backstepping technique. It is proved that the proposed control scheme guarantees the tracking error is asymptotically convergent to an adjustable neighborhood of zero and all of the closed-loop signals are uniform ultimate bounded. Lastly, simulations are conducted to further verify our theoretical results.

关键词： Hysteresis Actuators Nonlinear systems Fuzzy logic adaptive systems Adaptation models Actuator hysteresis adaptive quantized control backstepping technique fuzzy logic systems (FLSs) nonlinear systems

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adaptive Neural quantized control for a Class of MIMO Switched Nonlinear Systems With Asymmetric Actuator Dead-Zone

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IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 2020年第6期31卷 1927-1941页

作者： Xie, Kan Lyu, Ziliang Liu, Zhi Zhang, Yun Chen, C. L. Philip Guangdong Univ Technol Sch Automat Guangzhou 510006 Peoples R China South China Univ Technol Sch Comp Sci & Engn Guangzhou 510006 Peoples R China Dalian Maritime Univ Nav Coll Dalian 116026 Peoples R China

This paper concentrates on the adaptive state-feedback quantized control problem for a class of multiple-input-multiple-output (MIMO) switched nonlinear systems with unknown asymmetric actuator dead-zone. In this study, we employ different quantizers for different subsystem inputs. The main challenge of this study is to deal with the coupling between the quantizers and the dead-zone nonlinearities. To solve this problem, a novel approximation model for the coupling between quantizer and dead-zone is proposed. Then, the corresponding robust adaptive law is designed to eliminate this nonlinear term asymptotically. A direct neural control scheme is employed to reduce the number of adaptive laws significantly. The backstepping-based adaptive control scheme is also presented to guarantee the system performance. Finally, two simulation examples are presented to show the effectiveness of our control scheme.

关键词： Switches MIMO communication Nonlinear systems adaptive systems Switched systems Backstepping adaptive quantized control asymmetric actuator dead-zone backstepping multiple-input-multiple-output (MIMO) switched nonlinear systems

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Finite-Time adaptive Fuzzy quantized control for a Quadrotor UAV

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IEEE ACCESS 2020年 8卷 179363-179372页

作者： Yang, Wei Cui, Guozeng Yu, Jinpeng Tao, Chongben Li, Ze Suzhou Univ Sci & Technol Sch Elect & Informat Engn Suzhou 215009 Peoples R China Qingdao Univ Sch Automat Qingdao 266071 Peoples R China Tsinghua Univ Suzhou Automobile Res Inst Suzhou 215134 Peoples R China

In this paper, a finite-time command filtered backstepping (FTCFB) adaptive trajectory tracking control strategy is proposed for a quadrotor unmanned aerial vehicle (UAV) with quantized inputs and external disturbances. For the position subsystem and attitude subsystem, a finite-time command filter is introduced to faster approximate the derivative of virtual control signal, which can effectively avoid the problem of explosion of complexity inherent in the traditional backstepping design procedure. The fractional order error compensation mechanism is designed to remove the filter error, and it further improves control performance. From the Lyapunov stability theory, the boundedness of all signals in the closed-loop system is rigorously proved, and the position and attitude tracking errors can converge to a small neighborhood of the origin in finite-time. Finally, a numerical example is conducted to intuitively show the validity of the developed control scheme.

关键词： Unmanned aerial vehicles Backstepping Attitude control Trajectory tracking Explosions Complexity theory Electronic countermeasures Quadrotor unmanned aerial vehicle command filtered backstepping adaptive quantized control finite-time control

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