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Observer-Based Event-Triggered Fuzzy Adaptive Bipartite Containment Control of Multiagent Systems With input quantization

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IEEE TRANSACTIONS ON FUZZY SYSTEMS 2021年第2期29卷 372-384页

作者： Zhou, Qi Wang, Wei Liang, Hongjing Basin, Michael, V Wang, Bohui Guangdong Univ Technol Sch Automat Guangzhou 510006 Peoples R China Guangdong Univ Technol Guangdong Prov Key Lab Intelligent Decis & Cooper Guangzhou 510006 Peoples R China Bohai Univ Coll Informat Sci & Technol Jinzhou 121013 Peoples R China Bohai Univ Coll Engn Jinzhou 121013 Peoples R China Autonomous Univ Nuevo Leon Sch Phys & Math Sci San Nicolas De Los Garza 66453 Nuevo Leon Mexico ITMO Univ St Petersburg 197101 Russia Xidian Univ Sch Aerosp Sci & Technol Xian 710071 Peoples R China

This article studies the bipartite containment control problem for nonlinear multiagent systems (MASs) with input quantization over a signed digraph. The design objective is to provide an appropriate distributed protocol such that the followers converge to a convex hull containing each leader's trajectory as well as its opposite trajectory different in sign. Based on a nonlinear decomposition approach of input quantization, an event-triggered control scheme is developed via backstepping technique. A fuzzy observer is constructed to estimate unmeasurable states. Moreover, the bipartite containment control scheme for nonlinear MASs is designed. It is demonstrated that all signals in the closed-loop system are semiglobally uniformly ultimately bounded and Zeno behavior is excluded. Finally, a simulation example is given to verify the validity of the designed method.

关键词： quantization (signal) Trajectory Observers Directed graphs Fuzzy logic Synchronization Laplace equations Bipartite containment control multiagent systems (MASs) event-triggered mechanism input quantization unmeasurable states

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Adaptive decentralized finite-time tracking control for uncertain interconnected nonlinear systems with input quantization

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2021年第10期31卷 4491-4510页

作者： Sun, Haibin Hou, Linlin Qufu Normal Univ Sch Engn Rizhao 276826 Shandong Peoples R China Qufu Normal Univ Sch Informat Sci & Engn Rizhao Peoples R China

Compared with the previous references, very few results are available to study control scheme directly for interconnected nonlinear systems (INSs) with strongly interconnected terms described by unknown state-dependent-nonlinear functions and input quantization in the finite-time control literature. In this article, an adaptive decentralized finite-time tracking control (ADFTTC) algorithm is developed to address the system output tracking problem for a class of INSs with input quantization and strongly interconnected terms. To reduce the computation complexity, the neural network technique is employed to reconstruct the derivative of virtual control laws in each step. By employing adding a power integrator technique, an adaptive decentralized finite-time tracking controller is constructed, which guarantees all signals in the closed-loop systems converge to a neighborhood of the origin. Moreover, the developed controller avoids the "singularity" and "explosion of complexity" problems in the recursive design scheme. An example of an inverted pendulum confirms the ADFTTC scheme.

关键词： adaptive control decentralized control finite‐ time control input quantization interconnected nonlinear system neural network

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Robust Backstepping Control for A Class of Nonlinear Uncertain Systems with input quantization 41

Robust Backstepping Control for A Class of Nonlinear Uncerta...

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第41届中国控制会议

作者： Mingyuan Zhang Fei Yan Yang Zhu School of Information Science and Technology Southwest Jiaotong University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,a robust backstepping controller is proposed for a class of nonlinear dynamic systems involving uncertain parameters and input *** consideration of quantization is of practical importance,especially for networked control systems with limited communication ***,the logarithmic quantizer is employed to quantize the control signal prior to being transmitted over the communication channel to the remotely located nonlinear system.A robust control law is designed based on the backstepping method,which is able to compensate for the model parameter uncertainty,dynamic nonlinearities,and quantization errors *** closed-loop stability and trajectory tracking performance are analyzed using the Lyapunov *** results are provided to show that(i) the states of the closed-loop system are globally bounded,and(ii) under any initial conditions,the tracking errors can converge to an arbitrarily small neighborhood of origin by increasing the control gains.

关键词： Nonlinear uncertain systems input quantization robust backstepping control

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Adaptive Tracking Control for Nonlinear Fully Actuated Systems With input quantization

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS 2024年

作者： Liu, Lin Duan, Guangren Harbin Inst Technol Ctr Control Theory & Guidance Technol Harbin 150001 Peoples R China Southern Univ Sci & Technol Shenzhen Key Lab Control Theory & Intelligent Syst Shenzhen 518055 Peoples R China

In this paper, we investigate the tracking issue for fully actuated systems (FASs) with parameter uncertainties and input quantization. Different from models of the existing adaptive control for FASs, the input matrix herein incorporates uncertain parameters. By utilizing the full-actuation properties, straightforward adaptive state feedback controllers can be implemented in the trajectory tracking of single-order and multi-order FASs, ensuring that the tracking error can converge to an arbitrarily small vicinity of the origin. The simulations of mass-spring-damper systems and permanent magnet synchronous motors (PMSM) validate the effectiveness of the given method.

关键词： Vectors quantization (signal) Adaptation models Adaptive control Control systems Circuits Uncertainty Control theory Robust control Hysteresis fully actuated system approach input quantization multiple-input-multiple-output nonlinear systems hysteresis quantizers

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Fuzzy course tracking control of an unmanned surface vehicle with event-triggered mechanism and input quantization

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OCEAN ENGINEERING 2023年第Part1期288卷

作者： Ning, Jun Ma, Yifan Liu, Lu Li, Tieshan Dalian Maritime Univ Coll Nav Dalian 116026 Peoples R China Dalian Maritime Univ Coll Marine Elect Engn Dalian 116026 Peoples R China Univ Elect Sci & Technol China Coll Automat Engn Chengdu 611731 Peoples R China

This paper considers the course tracking control of an unmanned surface vehicle with event-triggered mechanism and input quantization, aiming to reduce the influence of external interference and saving communication resources. The fuzzy logic system is used to approximate the model uncertainty and external interference. A linear analytical model is used to describe the input quantization process. The adaptive fuzzy quantization controller does not need the prior information of quantization parameters. Then an event-triggered adaptive fuzzy quantization control law is proposed. In this way, the frequency and amplitude of execution are reduced and the communication burden is relaxed. On the basis of the Lyapunov stability theory, the stability of the proposed control structure is proved, and all the signals in the closed-loop system are ultimately bounded. Finally, the effectiveness and feasibility of the proposed algorithm are verified by simulation experiments.

关键词： Unmanned surface vehicles Course tracking control input quantization Fuzzy adaptive control Event-triggered control

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Fault-Tolerant Control of Unmanned Surface Vehicle with input and State quantization

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NONLINEAR DYNAMICS 2025年第12期113卷 15117-15136页

作者： Ning, Jun Cui, Ruoyu Li, Tieshan Liu, Lu Dalian Maritime Univ Sch Marine Nav Dalian 116026 Peoples R China Univ Elect Sci & Technol China Sch Automat Engn Chengdu 611731 Sichuan Peoples R China Dalian Maritime Univ Sch Marine Engn Dalian 116026 Peoples R China Shanghai Jiao Tong Univ Dept Automat Shanghai 200240 Peoples R China

This paper investigates fault-tolerant course control of the unmanned surface vehicle (USV) in the presence of input and state quantization. In the design of the controller, the failure factor of sensors and actuators is considered for the fault-tolerant system of USV. An extended state observer (ESO) is adopted to estimate the variables and uncertainties of the system, and quantized state variables are reconstructed. In addition, the input quantization process is described linearly, so that the controller does not require any prior knowledge of the quantized parameters. The stability of the controller and the observer are proved by using the Lyapunov stability theory, the entire closed-loop system is ultimately uniformly bounded. During the simulation, the saturation function is used instead of the sign function in the control law to prevent jitter, and the effectiveness of the proposed strategy is verified.

关键词： Unmanned surface vehicle Extended state observer input quantization State quantization Fault-tolerant Course control

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Adaptive Trajectory Tracking Control for Unmanned Airships With input Saturation and quantization

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2025年

作者： Zhang, Chang Wang, Jiang Li, Hongyan Beijing Inst Technol Sch Aerosp Engn Beijing Peoples R China China UAE Belt & Rd Joint Lab Intelligent Unmanned Beijing Peoples R China

This article proposes a novel adaptive robust nonlinear trajectory-tracking control strategy for an unmanned airship subject to actuator saturation, input quantization, unknown time-varying disturbances, and model uncertainties. An auxiliary system is first developed to solve the actuator saturation. Then, an adaptive nonsingular terminal sliding mode controller is designed based on the barrier function. The utilized adaptive law eliminates the need to assume disturbance upper bounds, avoids overestimating control gains, reduces chattering, and allows for a stable zero neighborhood of predefined sliding variables. Due to limitations in communication bandwidth, a quantizer is used to quantize the control commands. The key feature of this method is its strong capability for saturation compensation and precise trajectory tracking. Finite-time stability is theoretically proven using the Lyapunov method, and the superiority of the control algorithm is demonstrated through numerical simulations.

关键词： actuator saturation barrier function input quantization tracking control unmanned airship

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Neural Network Filter Quantized Control for a Class of Nonlinear Systems With input and State quantization

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2024年第4期21卷 5802-5811页

作者： Sui, Shuai Liu, Zhuo Bi, Wenshan Tong, Shaocheng Chen, C. L. Philip Liaoning Univ Technol Coll Sci Jinzhou 121001 Peoples R China South China Univ Technol Sch Comp Sci & Engn Guangzhou 510641 Peoples R China

This paper investigates adaptive neural network filtering control for uncertain nonlinear systems with general model state and input quantization. The plants under consideration contain quantized states, quantized input, and unknown nonlinear system functions. A universal quantizer is established for both system states and control input. In the control design process, neural networks and the command filter are used to approximate the unknown nonlinear system functions and overcome the discontinuities of virtual control signals, respectively. A new command filtering-based control strategy is proposed using the backstepping design technique. It is testified that the proposed control approach can guarantee that the closed-loop signals are semi-global uniform ultimate boundedness. A simulation example is presented to further demonstrate our proposed scheme's effectiveness. This work is motivated by the quantized control problem for a class of nonlinear systems with state and input quantization. In modern control engineering applications, quantization plays a crucial role due to the prevalent use of digital processors that operate with finite precision arithmetic. It is valuable and inevitable to minimize information flow, reduce communication burden, and improve system security. However, quantization will introduce significant discontinuous characteristics and strong nonlinearity, which may decrease the system's performance and even drive the closed-loop system to instability. This paper demonstrates how to use backstepping and adaptive control methods with command filter to complete controller design and deal with the quantization effects. Therefore, it provides a feasible approach for engineering applications.

关键词： State quantization input quantization neural networks command filter adaptive backstepping control

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Event-triggered sliding mode control for a cableless microsatellite with input delay and quantization

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ADVANCES IN SPACE RESEARCH 2024年第9期73卷 4813-4826页

作者： Liao, He Yang, Yang Wang, Daixing Xu, Zhihao Nanjing Univ Aeronaut & Astronaut Coll Astronaut Nanjing 211106 Peoples R China

This paper proposes a solution to the attitude control problem for a cableless microsatellite with input delay and quantized communication using event-triggered sliding mode control theory. The aim is to reduce the communication burden. The attitude dynamic is developed based on the unit quaternion, taking into account the inertial uncertainties, external disturbance uncertainties, and input delay. Based on the developed model, a sliding mode controller with input delay compensation and quantized input is proposed to ensure that the closed-loop system is uniformly ultimately bounded stable. The hybrid quantizer signal, based on the compensated eventtriggered sliding mode controller, is updated only at an inconsecutive discrete instant. Thus, the communication burden can be significantly reduced, and the impact of input delay on the system can be effectively suppressed. The method's stability and effectiveness are ultimately confirmed through numerical simulation. (c) 2024 COSPAR. Published by Elsevier B.V. All rights reserved.

关键词： Keywords. Attitude control Cableless microsatellite input quantization input delay Event-triggered sliding mode control

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Quantized Feedback Control of Discrete-Time MIMO Linear Systems With input and Output quantization Over Finite Data Rate Channels

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2023年第10期68卷 6277-6284页

作者： Wang, Jian Bohai Univ Coll Math Sci Jinzhou 121001 Peoples R China

This article considers a control problem of discrete-time multiple-input multiple-output linear systems involving input quantization (for the output of the controller) and output quantization (for the output of the plant). Based on spherical polar coordinate quantizer, a quantization method with finite data rate is proposed for handling the nested quantization and achieving the convergence to the origin of the system with input and output quantization. Further, an optimalization problem is developed for each quantizer, of which the optimal solution set contains a virtual augmented vector. The quantizers quantize their respective virtual augmented vectors to obtain the estimates of the outputs of the plant and the controller. We present the analytical expression of the optimal solution set for each quantizer. Finally, a method is presented to achieve the parameters of the quantizers and the controller.

关键词： Finite data rate input quantization nested quan-tization output quantization quantized control spherical polar coordinate quantizer

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