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Distributed Containment control of Continuous-Time Multiagent Systems With Nonconvex control input constraints

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2019年第10期66卷 7927-7934页

作者： Yang, Chunhua Duan, Mengmeng Lin, Peng Ren, Wei Gui, Weihua Cent S Univ Sch Informat Sci & Engn Changsha 410083 Hunan Peoples R China Univ Calif Riverside Dept Elect & Comp Engn Riverside CA 92521 USA

In this paper, we investigate the distributed constrained containment control problem for continuous-time multiagent systems with nonconvex control input constraints. A nonlinear projection containment control algorithm for followers with double-integrator continuous-time dynamics is proposed. We show that each follower finally stays in the convex hull formed by multiple stationary leaders, provided that for each follower, there exists at least one directed path from leaders to it in the union of the graphs in each bounded time interval. Finally, a simulation example is implemented to illustrate theoretical results.

关键词： Containment control control input constraints multiagent systems switching topologies

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Distributed Consensus of Second-Order Multiagent Systems With Nonconvex Velocity and control input constraints

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IEEE TRANSACTIONS ON AUTOMATIC control 2018年第4期63卷 1171-1176页

作者： Lin, Peng Ren, Wei Yang, Chunhua Gui, Weihua Cent S Univ Sch Informat Sci & Engn Changsha 410083 Hunan Peoples R China Univ Calif Riverside Dept Elect & Comp Engn Riverside CA 92521 USA

This paper is devoted to a distributed consensus problem for second-order multiagent systems with nonconvex velocity and control input constraints. A distributed control algorithm is introduced using local information. It is shown that consensus can be achieved as long as the union of the communication graphs has directed spanning trees among each time interval of certain bounded length in the presence of arbitrarily bounded communication delays. Finally, a numerical example is included to illustrate the theoretical results.

关键词： Communication delays control input constraints multiagent systems velocity constraints

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Finite-time attitude tracking control for rigid spacecraft with control input constraints

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IET control THEORY AND APPLICATIONS 2017年第7期11卷 931-940页

作者： Zou, An-Min de Ruiter, Anton H. J. Kumar, Krishna Dev Ryerson Univ Dept Aerosp Engn Toronto ON M5B 2K3 Canada

This study considers the problem of attitude tracking control for rigid spacecraft subject to control input saturation. To address this problem, a smooth model is first proposed to describe the input magnitude saturation. The output of the model is always in agreement with the constraints imposed by the actuators. Then, two finite-time attitude tracking control schemes are designed based on the model derived here and the homogeneous method. The measurement of angular velocity is required in the first scheme while it is relaxed in the second one. Finally, the effectiveness of the proposed control laws is illustrated by numerical simulations.

关键词： attitude control space vehicles tracking control nonlinearities actuators angular velocity measurement finite-time attitude tracking control rigid spacecraft control input constraints input magnitude saturation actuators homogeneous method angular velocity measurement control laws

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Optimal control of Payload's Skew Rotation in Crane Systems with State and control input constraints

Optimal Control of Payload's Skew Rotation in Crane Systems ...

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IEEE Conference on control Technology and Applications

作者： Ho Duc Tho Ryosuke Tasaki Takanori Miyoshi Kazuhiko Terashima Department of Mechanical Engineering Toyohashi University of Technology Aichi Japan

In this paper, a nonlinear sub-optimal time control is proposed as a vibration controller for the payload's skew rotation process of crane systems. Physical constraints of the actuator including bounded velocity and bounded acceleration are explicitly taken into account in the design process. Clipping-off conjugate gradient method is adopted to solve the bounded optimal control problem, whereas penalty function is employed to relax the state constraint. Both simulation and experimental results are provided to clarify the effectiveness of the optimal control system. The proposed scheme can be directly applied to transfer the payload to desirable skew orientation without any residual oscillation, or it can be utilized as a reference trajectory planner of the skewing control module for a 2-DOFs controller in either overhead or rotary crane systems.

关键词： Crane Systems State control input constraints

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Distributed constrained control for multi-train systems with multiple cars

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2024年第4期34卷 2315-2332页

作者： Sun, Xiao Zeng, Mengxiang Lin, Peng Cent South Univ Sch Automat Changsha 410083 Peoples R China China Acad Railway Sci Corp Ltd Ctr Natl Railway Intelligent Transportat Syst Engn Beijing Peoples R China

In practical multi-train systems, there are four different kinds of necessary nonlinearities cause by the interactive forces between adjacent cars, the nonlinear resistances, the input constraints, and the velocity constraints. However, most of the existing works on distributed control for multi-train systems only focused one or two kinds of these nonlinearities. To the best of our knowledge, there are only a few works considering three kinds of these nonlinearities. In this paper, the effects of control input and velocity constraints, interactive forces between adjacent cars and the train running resistance on the system are studied, and a distributed cooperative control algorithm based on the state information of adjacent cars is proposed. The analysis is given based on model transformations, appropriate parameter selection and convex analysis. It is proved that all trains finally run in a given formation even when the inputs and velocities of all trains are constrained to lie in some given sets. Numerical simulation examples are presented to demonstrate the theoretical conclusions.

关键词： control input constraints flexible couplers multi-train systems velocity constraints

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input-limited optimal control for overhead cranes with payload hoisting/lowering and double pendulum effects

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NONLINEAR DYNAMICS 2023年第12期111卷 11135-11151页

作者： Li, Mengyuan Chen, He Li, Zhaoqi Hebei Univ Technol Sch Artificial Intelligence Tianjin 300401 Peoples R China

As an underactuated system, the overhead crane is widely used to transport cargoes in industry according to its flexibility and lifting capacity. Many control strategies are designed based on single pendulum crane models, which ignore the hook's mass and treat the payload as a mass point. However, the payload will swing around the hook when the payload is too large or the hook mass cannot be directly ignored, which is called double pendulum effects, making the dynamic more complex. In practical applications, input saturation and energy consumption should also be considered. To this end, we design an input-limited optimal controller for double pendulum cranes. Specifically, based on the defined performance index function and by solving the Hamilton-Jacobi-Bellman (HJB) equation, we can get an optimal controller satisfying the saturation constraint. In addition, the neural network is utilized to estimate the optimal performance index function. Furthermore, the convergence of state variables is proved theoretically, i.e. the trolley/rope length can converge to corresponding desired positions. Meanwhile, the hook's swing and payload's swing can also be eliminated. Finally, the simulation results are utilized to illustrate the performance of the designed optimal controller.

关键词： Double pendulum cranes Swing suppression control input constraints Neural network Underactuated systems

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Soft Variable Structure control for Constrained Discrete-time Singular Systems 39

Soft Variable Structure Control for Constrained Discrete-tim...

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39th Youth Academic Annual Conference of Chinese-Association-of-Automation (YAC)

作者： Zhang, Mengjie Zhang, Yanru Ren, Chengyong Liu, Yunlong Qufu Normal Univ Coll Engn Rizhao Peoples R China

ISBN: (纸本)9798350390780;9798350379228

This paper aims to address the chattering problem of sliding mode variable structure control strategy for discrete-time singular systems, and explores soft variable structure control strategy under complete controllability. First, the strategy of soft variable structure control and the design method of dynamic soft variable structure controller are introduced. Then, the controller design problem is transformed into constructing a suitable selection function via Lyapunov method, and a new selection function is proposed for the designed controller. The optimized selection strategy function makes the system stable and satisfies the control input constraints. Finally, the algorithm of undetermined parameters in the proposed controller is given, which has certain guiding significance for practical applications.

关键词： soft variable structure control discrete-time singular system selection strategy function control input constraints

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Formation flight of fixed-wing UAV swarms:A group-based hierarchical approach

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Chinese Journal of Aeronautics 2021年第2期34卷 504-515页

作者： Hao CHEN Xiangke WANG Lincheng SHEN Yirui CONG College of Intelligence Science and Technology National University of Defense TechnologyChangsha 410073China

This paper investigates a formation control problem of fixed-wing Unmanned Aerial Vehicle(UAV) swarms. A group-based hierarchical architecture is established among the UAVs, which decomposes all the UAVs into several distinct and non-overlapping groups. In each group, the UAVs form hierarchies with one UAV selected as the group leader. All group leaders execute coordinated path following to cooperatively handle the mission process among different groups, and the remaining followers track their direct leaders to achieve the inner-group coordination. More specifically, for a group leader, a virtual target moving along its desired path is assigned for the UAV, and an updating law is proposed to coordinate all the group leaders’ virtual targets;for a follower UAV, the distributed leader-following formation control law is proposed to make the follower’s heading angle coincide with its direct leader, while keeping the desired relative position with respect to its direct leader. The proposed control law guarantees the globally asymptotic stability of the whole closed-loop swarm system under the control input constraints of fixed-wing UAVs. Theoretical proofs and numerical simulations are provided, which corroborate the effectiveness of the proposed method.

关键词： control input constraints Coordinated path following Formation control Leader-following control Unmanned aerial vehicles swarms

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Physics-informed reinforcement learning for optimal control of nonlinear systems

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AICHE JOURNAL 2024年第10期70卷

作者： Wang, Yujia Wu, Zhe Natl Univ Singapore Dept Chem & Biomol Engn Singapore 117585 Singapore

This article proposes a model-free framework to solve the optimal control problem with an infinite-horizon performance function for nonlinear systems with input constraints. Specifically, two Physics-Informed Neural Networks (PINNs) that incorporate the knowledge of the Lyapunov stability theorem and the convergence conditions of the policy iteration algorithm are utilized to approximate the value function and control policy, respectively. Then, a Reinforcement Learning (RL) algorithm that does not require any first-principles or data-driven models of nonlinear systems is developed to iteratively learn a nearly optimal control policy. Furthermore, we provide a rigorous theoretical analysis showing the conditions that ensure the stability of closed-loop systems with the control policy learned by RL and guarantee the convergence of the iteration algorithm. Finally, the proposed Physics-Informed Reinforcement Learning (PIRL) method is applied to a chemical process example to demonstrate its effectiveness.

关键词： chemical process control control input constraints nonlinear systems optimal control physics-informed neural networks reinforcement learning

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Robust data-driven fixed-order controller synthesis: Model matching approach

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IET control THEORY AND APPLICATIONS 2021年第2期15卷 179-194页

作者： Das, Ersin Baslamisli, Selahattin C. TUBITAK SAGE Mechatron Dept Ankara Turkey Hacettepe Univ Mech Engn Dept Ankara Turkey

In this paper, a new data-driven fixed-order H infinity controller design method based on convex optimisation is proposed for linear single input single output systems. The proposed non-parametric frequency domain data based approach renders the need for a mathematical model of the controlled plant unnecessary. First, a semi-definite convex optimisation algorithm is proposed to simultaneously compute a minimal uncertainty model and an optimal nominal model from the experimental data. Then the H infinity robust performance condition, control input constraints and the closed-loop model matching objective are described by convex functions with respect to the parameters of the controller. The usefulness and efficiency of the proposed approach are verified experimentally with application to the control of a thrust vector control system.

关键词： Optimisation techniques convex functions convex programming mathematical model data-driven fixed-order H∞ controller design Stability in control theory control system synthesis semidefinite convex optimisation control system analysis and synthesis methods controlled plant minimal uncertainty model closed loop systems linear single input single output systems H∞ robust performance condition linear systems thrust vector control system robust control robust data-driven fixed-order controller synthesis frequency-domain analysis control input constraints closed-loop model model matching optimal nominal model nonparametric frequency domain data

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