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Adaptive optimal control of switched linear systems with input constraints

INTERNATIONAL JOURNAL OF CONTROL 2025年第2期98卷 260-268页

作者： Wang, Yuliang Fu, Jun Fu, Yue Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang Peoples R China Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110819 Peoples R China

In this paper, an adaptive optimal control scheme is proposed for a class of switched linear systems with input constraints and unknown dynamics. Firstly, in the case that the system dynamics is known, the optimal controller and optimal switching condition are determined by introducing a non-quadratic cost function and employing the embedding transformation technique. After that, an adaptive algorithm is established for estimating the unknown dynamics of the switched linear systems. Then, when the system dynamics is unknown, the adaptive optimal controller and optimal switching condition are deduced by resorting to the certainty equivalent principle. A common Lyapunov function is constructed, by using which, it is proved that the closed-loop system is globally uniformly asymptotically stable. Simulations are finally conducted to further illustrate the effectiveness of the proposed method.

关键词： Switched linear system input constraints adaptive optimal control embedding transformation

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Adaptive Dynamic Programming for a Nonlinear Two-Player Non-Zero-Sum Differential Game With State and input constraints

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2025年第3期35卷 1117-1133页

作者： Zhou, Yinglu Li, Yinya Sheng, Andong Qi, Guoqing Nanjing Univ Sci & Technol Sch Automat Nanjing Peoples R China

This paper investigates a nonlinear two-player non-zero-sum differential game with state and input constraints. To solve this problem, this paper constructs a neural network (NN) framework to approximate the solution of the Hamilton-Jacobi-Isaacs (HJI) equation. The adaptive dynamic programming (ADP) method is utilized where each player only needs one critic NN. To solve the issue of state and input saturations, this paper develops a novel constrained system for the differential game, firstly to make the states within the predetermined constraint set. Then, the non-quadratic expression is used to substitute the traditional quadratic expression for the two-player non-zero-sum differential game, and both of the inputs of the two players are constrained. With these treatments, the control input and the system are more in line with real-world applications. Moreover, the stability of the system is also analyzed using the Lyapunov theorem. Two numerical examples are presented to illustrate that the critic NN weights estimation errors and the system are uniformly ultimately bounded (UUB), and the state and input constraints can be achieved.

关键词： adaptive dynamic programming input constraints non-zero-sum differential game state constraints

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Leader-Following Consensus of MASs With input constraints: A Time-Varying Dynamic Event-Triggered Approach

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2025年第6期55卷 4423-4432页

作者： Li, Meilin Li, Tieshan Zhang, Kai Univ Elect Sci & Technol China Sch Automat Engn Chengdu 611731 Peoples R China Lab Electromagnet Space Cognit & Intelligent Contr Beijing 100089 Peoples R China Harbin Inst Technol Sch Instrumentat Sci & Engn Harbin 150001 Peoples R China City Univ Hong Kong Dept Biomed Engn Hong Kong Peoples R China

The leader-following consensus problem for input constrained multiagent systems is investigated in this article. First, the follower agents are divided into several clusters based on the connectivity of the communication topology. Then, a novel clustered time-varying dynamic event-triggered mechanism (ETM) with adjustable minimum interevent time (MIET) is designed for each cluster, such that the follower agents within the same cluster share a unique ETM and are not influenced by agents in other clusters. Next, an event-triggered-based bounded control protocol with a time-varying gain and a parameter scheduler is proposed for each follower. Finally, the leader-following consensus can be realized with a faster convergence rate and the frequency of controller updates can be significantly reduced. Obviously, with the proposed clustered time-varying dynamic ETM, the Zeno-free phenomenon is guaranteed and the MIET can be modified by adjusting only a design parameter. Simulation results validate the effectiveness of the designed control algorithm.

关键词： Event detection Actuators Consensus control Protocols Convergence Topology Control systems Aerodynamics Transient analysis Multi-agent systems Adjustable minimal interevent time dynamic event-triggered mechanism input constraints multiagent systems time-varying gain

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Neural network adaptive PID-like coupling control for double pendulum cranes with time-varying input constraints

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MECHANICAL SYSTEMS AND SIGNAL PROCESSING 2024年 208卷

作者： Yang, Yana Zhang, Tengfei Zhou, Xiaoshuang Zhang, Heng Li, Junpeng Yanshan Univ Inst Elect Engn Qinhuangdao 066004 Peoples R China

Industrial cranes commonly experience the double pendulum swing effect as a result of a number of reasons, including the magnitude of the cargo and the non-negligible hook mass. Nevertheless, the majority of control strategies for double-pendulum cranes, whether open-loop or closed-loop, are created using linearized dynamics and necessitate accurate knowledge of the model parameters, rendering them susceptible to parametric uncertainties and unmodeled disturbances. To solve these problems, a new neural network adaptive PID-like coupling control method for the nonlinear double pendulum cranes is proposed in this paper. By making full use of the designed composite signal and its integral action, oscillation suppression and precise positioning are realized. In addition, the problem of conventional PID parameter adjustment is solved successfully by determining the PID gains through a neural network adaptive algorithm, automatically. Moreover, it has been shown that the systematic error converges into a compact set around zero for a variety of time-varying actuator failures and saturation situations that can easily occur in practical engineering. Finally, the effectiveness of the proposed control method is verified through hardware experiments, and the comparison results prove the superior performance of the designed controller.

关键词： Double pendulum cranes PID Neural network adaptive Coupling control input constraints

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Control-Barrier-Function-Based Cooperative Guidance with Nonuniform Field of View and input constraints

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2024年第11期47卷 2444-2452页

作者： Tang, Jingchuan Zuo, Zongyu Beihang Univ BUAA Res Div 7 Beijing 100191 Peoples R China

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Connectivity Preserving Consensus for Second-Order Heterogeneous MASs With input constraints

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IEEE SYSTEMS JOURNAL 2024年第2期18卷 1471-1480页

作者： Wang, Lili Chen, Shiming East China Jiaotong Univ Sch Elect & Automat Engn Nanchang 330013 Peoples R China Nanchang Inst Technol Coll Sci Nanchang Peoples R China

This article gives an investigation to the connectivity preserving consensus (CPC) issue for the second-order heterogeneous multiagent systems (MASs), which are constituted by linear and nonlinear subsystem. First, a consensus algorithm for the system without input constraints is proposed and some sufficient conditions for consensus are obtained. Due to the limited communication distance of each agent, the algorithm maintains network connectivity based on potential function techniques. Then, considering the linear and nonlinear subsystem with input constraints, respectively, the results indicate that as long as certain conditions are met, all agents can be guaranteed to achieve CPC. Furthermore, the proposed algorithm is extended to the entire system with input constraints. Five examples are provided to demonstrate efficiency of theoretical results.

关键词： Topology Network topology Vectors Switches Consensus algorithm Silicon carbide Robot sensing systems Connectivity preserving consensus heterogeneous system input constraints multiagent system (MAS)

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Given-Performance PID-SMC for 4-DOF Tower Crane Systems Under input constraints

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2025年 22卷 11444-11454页

作者： Yang, Yana Zhang, Tengfei Zhou, Xiaoshuang Hua, Changchun Li, Junpeng Yanshan Univ Inst Elect Engn Qinhuangdao 066004 Peoples R China

This paper focuses on the rapid jib and trolley positioning and payload sway suppression of the 4-degree of freedom (4-DOF) tower crane systems under uncertain system dynamics, external disturbances and control input constraints. A new adaptive proportional-integral-derivative sliding mode control (PID-SMC) method is proposed, which is model-free, does not need to linearize the system, and dispense with the uncertainty upper bound information required by traditional sliding mode control (SMC). In particular, a new time-varying scale function is used to constrain the system error to ensure the given-performance, that is, the actual transient-state and steady-state control performance of the system can be predetermined according to practical application requirements, and the quantified steady-state and transient-state properties of the 4-DOF tower crane system are obtained for the first time. In addition, although the actuator saturation upper bound is completely unknown the above mentioned given-performance can also be guaranteed by designing new parameter adaptive law. Finally, the effectiveness and superior performance of the control method are verified through rigorous theoretical analysis and experiments conducted on a 4-DOF tower crane platform.

关键词： Cranes Poles and towers Vectors Uncertainty Steady-state Automation Actuators Accuracy Upper bound Friction Tower crane systems input constraints PID sliding mode control given-performance

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Predictive disturbance-observer-based controller design for a class of input time-delay mechanical systems with input constraints

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INTERNATIONAL JOURNAL OF CONTROL 2024年第8期97卷 1843-1861页

作者： Ma, Xinyang Zhang, Qingzhen Liu, Jinkun Xing, Xueyan Beihang Univ Sch Automat Sci & Elect Engn Beijing Peoples R China Univ Sussex Dept Engn & Design Brighton England Beihang Univ Sch Automat Sci & Elect Engn Xueyuan Rd 37 Beijing 100191 Peoples R China

A predictive disturbance-observer-based controller (DOBC) is proposed for a class of input time-delay mechanical systems with input constraints. A predictive disturbance observer is developed for external disturbance and proof for exponential convergence of estimation error is provided. In the controller design process, the input integral is fed back into the controller to eliminate the effect of input delay, and the input integral method and hyperbolic tangent function are firstly combined to solve the problem of input delay and limit the control input simultaneously. The optimisation function FMINCON of MATLAB is used to obtain control parameters. Control goal realisation and the exponential stability of the closed-loop system are proven via the Lyapunov direct method. Simulation results verify the effectiveness of the proposed controller.

关键词： Time-delay system input constraints predictive disturbance observer input integral >

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Adaptive Nonsingular Terminal Sliding Mode Tracking Control for High-speed Trains With input constraints and Parametric Uncertainties

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INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 2024年第3期22卷 753-764页

作者： Li, Zikang Huang, Deqing Cai, Liangcheng Southwest Jiaotong Univ Sch Elect Engn Chengdu 610031 Peoples R China Southwest Jiaotong Univ Key Lab Railway Ind Adv Energy Tract & Comprehens Chengdu 610031 Peoples R China

In this paper, a finite-time tracking control strategy for high-speed trains (HSTs) subjected to input constraints and parameter uncertainties is proposed based on adaptive nonsingular terminal sliding mode control (ANTSMC), which achieves the fast and precise displacement-speed trajectory tracking and energy saving results. The dynamic model of HST is established with the basic, additional, and external disturbances firstly. To handle input constraints, a smooth hyperbolic function is designed to approximate saturation function, which guarantees that the control signal does not exceed traction/braking characteristics and ensures safe operation. Then, an adaptive mechanism is used to estimate the upper bounder of the lumped uncertainty and controller's parameters. Subsequently, the proposed ANTSMC methodology not only assures the finite-time convergence of position and velocity tracking errors, but also effectively compensates parameter uncertainties of the proposed model. Finally, numerical simulations indicate that the proposed method spends the less traction energy in obtaining the better tracking performance of HST.

关键词： Adaptive nonsingular terminal sliding mode control (ANTSMC) finite-time convergence high-speed trains (HSTs) input constraints tracking control

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Game-based Optimized Backstepping Control for Strict-feedback Systems With input constraints

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INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 2024年第8期22卷 2472-2482页

作者： Zhang, Liuliu Jing, Hailong Qian, Cheng Hua, Changchun Yanshan Univ Inst Elect Engn Qinhuangdao Peoples R China

In this paper, the optimal backstepping control method based on game theory is designed for strict feedback nonlinear systems with input saturation. In order to improve the robustness of the system, the zero-sum game problem of control input and disturbance for strict feedback systems is studied in this paper. Specifically, reinforcement learning (RL) is used to obtain the Nash equilibrium solution of the subsystem corresponding to the virtual control input and the virtual disturbance based on the HJB equation. By using the recursive process of backstepping, the controller of the tracking game problem between the control input and the disturbance of the high-order system is designed. In addition, according to the Lyapunov stability theory, it is proved that all internal signals of the closed-loop systems are uniformly ultimately bounded (UUB). Finally, simulation results are provided to illustrate the validity of the proposed method.

关键词： Game-based backstepping input constraints neural networks (NNs) optimal control strict-feedback system

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