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adaptive tracking control for non-periodic reference signals under quantized observations

EUROPEAN JOURNAL OF control 2025年 82卷

作者： Kong, Chuiliu Wang, Ying Shandong Univ Res Ctr Math & Interdisciplinary Sci Minist Educ Qingdao 266237 Shandong Peoples R China Shandong Univ Frontiers Sci Ctr Nonlinear Expectat Minist Educ Qingdao 266237 Shandong Peoples R China Chinese Acad Sci Key Lab Syst & Control Inst Syst Sci Acad Math & Syst Sci Beijing 100190 Peoples R China

This paper considers an adaptive tracking control problem for stochastic regression systems with multi- threshold quantized observations. Different from the existing studies for periodic reference signals, the reference signals in this paper are non-periodic. The main difficulty is how to ensure that the designed controller satisfies the uniformly bounded and excitation conditions that guarantee the convergence of the estimation in the controller under non-periodic reference signals. This paper designs two backward-shifted polynomials with time-varying parameters and a special projection structure, which break through periodic limitations and establish the convergence and tracking properties. To be specific, the adaptive tracking control law can achieve asymptotically optimal tracking for the non-periodic reference signal in the mean square sense. Besides, the proposed estimation algorithm is proved to converge to the true values in almost sure and ( 1 ) mean square sense, and the convergence speed can reach under suitable design of the quantized weight coefficients. Finally, the effectiveness of the proposed adaptive tracking control scheme is verified through a simulation.

关键词： adaptive tracking control Non-periodic reference signals Multi-threshold quantized observations

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adaptive tracking control of High-Order Nonlinear Systems With Time-Varying Delays Under Asymmetric Output Constraints

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2025年 22卷 2020-2030页

作者： Niu, Yi Yang, Yulong Wang, Huanqing Niu, Ben Shang, Zihao Shandong Normal Univ Sch Informat Sci & Engn Jinan 250014 Shandong Peoples R China Bohai Univ Sch Math & Sci Jinzhou 121000 Liaoning Peoples R China

This paper addresses the problem of adaptive tracking control of high-order nonlinear systems with time-varying delays under asymmetric output constraints. Unlike the existing researches, the studied system exhibits constantly changing unknown powers, which makes the existing Lyapunov Functionals invalid. Therefore, the Lyapunov Functionals are carefully designed to be suitable for the changing powers, where the changing powers include low power (0 < p(i) <= 1) and high power (p(i) > 1). Besides, we also incorporate the well-constructed dynamic gain signals into the Lyapunov Functionals to enhance the robustness, accuracy, and response speed of the system. Further, we cleverly deal with the time-varying delays by combining the novel dynamic gain signals and Lyapunov-Krasovskii (L-K) Functionals in the controller design process. For the system performance requirement, the asymmetric output constraints are considered by introducing a nonlinear transformation for the output signal x(1) and the reference signal y(r). While the derivative of this nonlinear transformation generates a gain term in the form of function, which makes the controller design more difficult. We utilize the adding one power integrator technique to design the desired controller and solve the design difficulty caused by the gain term. Under the proposed controller, all the signals in the closed-loop system remain bounded, the asymmetric output constraints are not violated as well as the tracking error stays in a small neighborhood of the origin. Finally, a simulation example is given to demonstrate the effectiveness of the present strategy. Note to Practitioners-In the article, we consider a class of high-order nonlinear systems with time-varying delays under asymmetric output constraints, and their models are widely utilized in the engineering field, such as transportation, manufacturing sector and so on. Further, the tracking problem is regarded as a popular topic in the control field, so designin

关键词： adaptive tracking control time-varying delays high-order nonlinear systems the changing powers dynamic gain signals asymmetric output constraints L-K functionals

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adaptive tracking control for Stochastic Nonlinear Time-Delay Systems With Full-State Constraints and Input Saturation Based on Multi-Dimensional Taylor Network

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INTERNATIONAL JOURNAL OF adaptive control AND SIGNAL PROCESSING 2025年

作者： Zheng, Xiao-Yi Yan, Hong-Sen Southeast Univ Sch Automat Nanjing Peoples R China Minist Educ Key Lab Measurement & Control Complex Syst Engn Nanjing Peoples R China

For stochastic nonlinear time-delay systems with full-state constraints and input saturation, the existing control methods cannot be directly applied. To solve the control problem, an adaptive tracking control scheme is proposed here. The barrier Lyapunov function (BLF) and Lyapunov-Krasovskii functional (LKF) are combined in a unified framework. The former is to prevent the violation of state constraints and the latter is to address the impact of time delay. A suitable auxiliary system with the same order as the considered system is constructed to compensate for input saturation. Moreover, the multi-dimensional Taylor network (MTN) is introduced to estimate unknown nonlinear functions in the process of controller design. With the help of the Lyapunov stability theorem and the backstepping technique, an adaptive MTN tracking controller is developed to ensure that all the closed-loop signals remain bounded in probability and that the system state constraints are never violated while the output signal tracks the reference one successfully. Simulation examples with three types of reference signals (y(d) = 0.5 sin (2t), y(d) = 0.9 and the square reference signal) are provided to verify the validity of the designed control approach.

关键词： adaptive tracking control auxiliary system full-state constraints input saturation multi-dimensional Taylor network stochastic nonlinear time-delay systems

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adaptive tracking control under quantized observations and observation uncertainty with unbounded variance

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ASIAN JOURNAL OF control 2024年第2期26卷 989-1002页

作者： Kong, Chuiliu Wang, Ying Zhao, Yanlong Shandong Univ Res Ctr Math & Interdisciplinary Sci Qingdao Peoples R China Chinese Acad Sci Inst Syst Sci Acad Math & Syst Sci Key Lab Syst & Control Beijing Peoples R China Univ Chinese Acad Sci Sch Math Sci Beijing Peoples R China Inst Syst Sci Acad Math & SystemsScience Chinese Acad Sci Key Lab Syst & Control Beijing 100190 Peoples R China

In this paper, we present a matrix-type adaptive tracking control scheme for a stochastic regression system with multi-threshold quantized observations and observation uncertainty. This observation uncertainty is described by an additive random noise, whose variance could be a polynomial-type rate of increase and tends to infinity. Our method, first, to handle simultaneously parameter uncertainty, quantized observation, and observation uncertainty, incorporates an online stochastic approximation-type parameter identification algorithm. Second, based on the above identification algorithm, we construct a matrix-type adaptive tracking control law by the certainty equivalence principle. In addition, under suitable conditions, the above identification algorithm and matrix-type adaptive tracking control law in the mean square sense can ensure that the estimations of the unknown parameters converge to the true values and achieve asymptotically optimal tracking of the periodic reference signal, respectively. To characterize the effect of observation uncertainty on the convergence speed of the identification algorithm in the mean square sense, a quantitative relationship between observation uncertainty and the convergence speed is proposed. Finally, the effectiveness of the proposed matrix-type adaptive tracking control scheme is verified through a simulation.

关键词： adaptive tracking control multi-threshold quantized outputs observation uncertainty

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adaptive tracking control of Switched Stochastic Non-Linear Systems With Full State Constraints: A MDADT Switching Method

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2025年第9期35卷 3763-3777页

作者： Kong, Meng-Ru Wang, Yan-Wu Zeng, Ze-Hong Liu, Xiao-Kang Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan Peoples R China Huazhong Univ Sci & Technol Key Lab Image Proc & Intelligent Control Minist Educ Wuhan Peoples R China

This article proposes an adaptive tracking control scheme for a class of switched stochastic non-linear systems subject to full state constraints (FSCs). A unified framework is established by integrating the adaptive backstepping technique with barrier Lyapunov functions (BLFs) to address the time-varying full state constraints (TFSCs). Accordingly, utilizing the theorem of stochastic non-linear systems, a new adaptive state feedback control scheme is developed for a class of switching signals with the mode-dependent average dwell time (MDADT) property. The proposed adaptive controller is mode-dependent while the adaptive laws are mode-independent so as to facilitate an easy deployment of the controller. It is rigorously proven that all signals in the closed-loop system are bounded in probability, the tracking error converges to a bounded compact set, and the TFSCs are not violated. Finally, simulation examples are conducted to validate the effectiveness of the controller.

关键词： adaptive tracking control full state constraints (FSCs) mode-dependent average dwell time (MDADT) switched stochastic non-linear systems

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adaptive tracking control for a class of stochastic nonlinear systems with input delay using multidimensional Taylor network

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ASIAN JOURNAL OF control 2023年第6期25卷 4968-4982页

作者： Zheng, Xiao-Yi Southeast Univ Sch Automation Nanjing Peoples R China Southeast Univ Key Lab Measurement & Control Complex Syst Engn Minist Educ Nanjing Peoples R China Southeast Univ Sch Automation Nanjing 210096 Jiangsu Peoples R China

In this paper, an adaptive tracking control strategy based on multidimensional Taylor network (MTN) is designed for a class of stochastic nonlinear systems with input delay, in which MTN is mainly introduced to approximate uncertain nonlinear functions. Moreover, the effect of input delay is compensated by exploiting an appropriate auxiliary system with the same order as the considered system. By utilizing the backstepping technique and classical adaptive approach, an MTN-based adaptive tracking control method is proposed, which guarantees that all the signals in the closed-loop system remain bounded in probability. Furthermore, unlike most existing approaches, the tracking error can be bounded by an explicit expression of design parameters in the mean quartic sense. Finally, two examples are given to verify the validity of the presented scheme.

关键词： adaptive tracking control auxiliary system input delay multidimensional Taylor network stochastic nonlinear system

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adaptive tracking control of two-wheeled mobile robots under Denial-of-Service attacks

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ISA TRANSACTIONS 2023年 141卷 365-376页

作者： Han, Zhen Long, Jiang Wang, Wei Wang, Lei Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China Northwestern Polytech Univ Sch Comp Sci Xian 710129 Shaanxi Peoples R China Zhongguancun Lab Beijing 100094 Peoples R China

This paper focuses on the tracking control problem for the two-wheeled mobile robot (TWMR) with unknown parameters. The robot collects its own states from the networked positioning system, which is subject to Denial-of-Service (DoS) attacks. To handle the uncertainties in the robot model and mitigate the attack effects on the system performance, parameter estimators with the projection operator technique are introduced. Then, an adaptive tracking controller is designed by adopting the backstepping technique. Correspondingly, a stability condition is derived, which guarantees that all the closed-loop signals are semi-globally uniformly bounded and tracking errors can converge to an adjustable compact set. The stability condition also reveals the relationships among the attack durations, design parameters and tracking errors, which can be utilized to guide the choice of design parameters. Experimental results are provided to validate the effectiveness of the proposed control scheme. (c) 2023 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： adaptive tracking control Two-wheeled mobile robot Denial-of-Service attacks

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adaptive tracking control of State-Constrained Strict-Feedback Nonlinear Systems Using Direct Method

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2023年第8期53卷 5116-5126页

作者： Wan, Peng Zeng, Zhigang Wuhan Univ Sci & Technol Sch Informat Sci & Engn Wuhan 430081 Peoples R China Wuhan Univ Sci & Technol Engn Res Ctr Met Automat & Measurement Technol Wuhan 430081 Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol Key Lab Image Proc & Intelligent Control Educ Minist China Wuhan 430074 Peoples R China

In this article, we focus on adaptive tracking control design for strict-feedback nonlinear systems with full state constraints. Unlike the barrier Lyapunov function method, all theoretical results are derived by direct method instead of introducing nonlinear state-dependent transformations, which reduces the calculated amount and the high sensitivity of control signals, and provides a new perspective to solve state-constrained problems. Then, by using the backstepping technique, the proposed adaptive controller maintains that the output closely tracks the desired trajectory, all signals in the closed-loop systems are bounded and the time-varying state constraints are not violated. Finally, two numerical simulations are provided to exhibit the effectiveness and superiority of the proposed adaptive tracking controller.

关键词： Lyapunov methods Nonlinear systems Trajectory Backstepping Time-varying systems Technological innovation Sensitivity adaptive tracking control backstepping technique direct method state constraints strict-feedback nonlinear systems

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adaptive tracking control for State-Constrained Fully Actuated Systems And Its Application to Overhead Cranes 3

Adaptive Tracking Control for State-Constrained Fully Actuat...

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3rd Conference on Fully Actuated System Theory and Applications (FASTA)

作者： Gao, Yang Zhang, Zhongcai Huang, Peng Wu, Yuqiang Southeast Univ Sch Automat Nanjing 210096 Peoples R China Qufu Normal Univ Sch Engn Rizhao 276826 Peoples R China

ISBN: (纸本)9798350373707;9798350373691

This paper investigates the adaptive tracking problem for a class of fully actuated systems (FASs) subject to state constraints, external disturbance, and model uncertainties. Through the utilization of carefully designed auxiliary signals, the issue of full-state constraints in FAS is reduced to a constraint problem for a coupled variable. This transformation enables the direct proposal of the controller without involving recursive design. The proposed control method is applied to crane system, and its feasibility and efficacy are verified through simulation.

关键词： Fully actuated system state constraints adaptive tracking control underactuated overhead crane

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adaptive tracking control for stochastic nonlinear systems with unknown virtual control coefficients

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2022年第3期32卷 1331-1354页

作者： Zhao, Yajing Liu, Cungen Liu, Xiaoping Wang, Huanqing Zhou, Yucheng Shandong Jianzhu Univ Sch Informat & Elect Engn Jinan Peoples R China Lakehead Univ Fac Engn Thunder Bay ON Canada Bohai Univ Dept Math Jinzhou Peoples R China

This article studies the adaptive tracking control problem for stochastic nonlinear systems with unknown virtual control coefficients (UVCCs) being functions of system states. Without using the Nussbaum gain technique (NGT), a new method is introduced to deal with UVCCs. The novel adaptive laws are constructed to compensate parameter uncertainties and UVCCs. Using backstepping method, an adaptive controller is designed, which can ensure that the boundedness in probability of all the signals in the closed-loop system. In the end, a numerical simulation example and a practical example are given to validate the effectiveness and superiority of the proposed controller.

关键词： adaptive tracking control stochastic nonlinear systems virtual control coefficients

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