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Nonfragile observer-based Control for Markovian Jump Systems Subject to Asynchronous Modes

IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2021年第6期51卷 3533-3540页

作者： Tao, Jie Wei, Chaoyou Wu, Jun Wang, Xiaofeng Shi, Peng 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 Zhejiang Univ Inst Cyber Syst & Control State Key Lab Ind Control Technol Hangzhou 310027 Peoples R China Univ South Carolina Dept Elect Engn Columbia SC 29208 USA Univ Adelaide Sch Elect & Elect Engn Adelaide SA 5005 Australia

In this paper, the problem of resilient observer-based robust control is considered for discrete-time Markov jump systems subject to asynchronous models and extended dissipativity. The model uncertainty is in the interval type, which has an ability to describe parameter fluctuating phenomenon more accurately than using the norm-bounded uncertainty. A hidden Markov chain is employed to depict the mismatch between the original system and the observer-based controller. Conditions are provided to ensure the stability of the resulting closed-loop system with a desired dissipation performance regardless of the uncertainties. An example is presented to illustrate the effectiveness and potential of the proposed new design techniques.

关键词： observers Markov processes Hidden Markov models Uncertainty Closed loop systems Symmetric matrices Linear matrix inequalities Extended dissipativity hidden Markov model nonfragile control observer-based controller

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observer-based Adaptive Sliding Mode Compensation Position-Tracking Control for Drilling Tool Attitude Adjustment

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SENSORS 2024年第8期24卷 2404页

作者： Gu, Jinheng Wang, Xunqi Yan, Haifeng Tan, Chao Si, Lei Wang, Zhongbin China Univ Min & Technol Sch Mechatron Engn Xuzhou 221116 Peoples R China China Univ Min & Technol Jiangsu Key Lab Mine Mech & Elect Equipment Xuzhou 221116 Peoples R China

This study develops an adaptive sliding mode control approach for a drilling tool attitude adjustment system, aiming at solving the problems of model uncertainties and insufficient ability of disturbance suppression during the regulation behavior. To further improve the performance of the position-tracking loop in terms of response time, tracking accuracy, and robustness, a state observer based on an improved radial basis function is designed to approximate the model uncertainties, a valve dead-zone compensate controller is used to reduce control deviation, an adaptive sliding mode controller is designed to improve the position-tracking precision and attenuate sliding mode chattering. Finally, simulation and experimental results are carried out to verify the observability of the model uncertainties and position-tracking errors of the drilling tool attitude adjustment system, which can effectively improve the position-tracking performance and robustness of the drilling tool attitude adjustment system.

关键词： observer-based controller adaptive sliding mode control position-tracking control drilling tool attitude adjustment system coal mine drilling robot for rockburst prevention

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observer-based control for nonlinear parameter-varying systems: A sum-of-squares approach

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ISA TRANSACTIONS 2021年 111卷 121-131页

作者： Zhu, Pingfang Zeng, Jianping Xiamen Univ Dept Automat Xiamen 361005 Fujian Peoples R China

This paper investigates the design problem of nonlinear and time-varying observer-based controllers for nonlinear parameter-varying systems without/with input constraints. With the aid of Lyapunov stability theory, the state-and-parameter-dependent linear matrix inequality conditions are obtained. These conditions are developed as convex programming problems. And a feasible solution can be obtained via sum-of-squares techniques. Thus, the commonly used backstepping/iterative methods are avoided. In addition, the effect of the bilinear product forms for the controller gain matrix and the Lyapunov functional are eliminated. A remarkable advantage of this proposed approach is that the state-and-parameter-dependent observer and the state-feedback controller can be designed independently, which significantly reduces the computational complexity. Finally, the feasibility and validity of the proposed method can be illustrated by simulation results. (C) 2020 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Nonlinear parameter-varying systems observer-based controller Input constraints Sum-of-squares

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observer-based robust exponential stabilization for linear systems with parameter uncertainties

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INTERNATIONAL JOURNAL OF DYNAMICS AND CONTROL 2021年第1期9卷 257-265页

作者： Zhang, Xuesheng Hu, Jian Long, Lin Zhang, Wei Shanghai Univ Engn Sci Sch Mech & Automot Engn Shanghai 201620 Peoples R China Shanghai Zhongqiao Coll Sch Informat Technol & Mech & Elect Integrat Shanghai 201310 Peoples R China

This paper is concerned with the robust observer-based control problem for a class of continuous-time linear systems with parameter uncertainties. A less conservative approach is provided to deal with the quadratic terms involving in the Lyapunov stability analysis for the estimation error dynamic system. Sufficient conditions that ensure the exponential stability of the closed-loop system are established and formulated in terms of linear matrix inequalities. The obtained results are less conservative than some existing ones in recent literature. Finally, two numerical examples are given to show the validity and superiority of the proposed observer-based robust controller.

关键词： observer-based controller Robust control Linear matrix inequalities (LMIs) Exponential stabilization

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observer-based control for nonlinear neutral type stochastic model with fractional Gaussian noise and input saturation

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CHAOS SOLITONS & FRACTALS 2023年第1期167卷

作者： Sweetha, S. Panneerselvam, V. Tatar, N. Sakthivel, R. Bharathiar Univ Dept Appl Math Coimbatore 641046 India King Fahd Univ Petr & Minerals Interdisciplinary Res Ctr Intelligent Mfg & Robot Dept Math Dhahran 31261 Saudi Arabia

This paper discusses the stabilization issue for a class of nonlinear neutral-type stochastic systems subject to time-varying delays, linear fractional uncertainties, actuator faults, input saturation and fractional stochastic noise. Primarily, the derivation analysis for the stability and stabilization for the addressed systems is carried out by adopting a fractional infinitesimal operator. A fault-tolerant controller under saturation effect will be designed in order to guarantee the stabilization of the considered systems. Further, a set of stability criteria is obtained with the help of the fractional infinitesimal operator and by choosing a suitable Lyapunov-Krasovskii functional. These stability criteria are derived in the form of linear matrix inequalities that are solved by the MATLAB LMI toolbox. Finally, simulation results are provided to illustrate the effectiveness of our findings through a numerical example.

关键词： Nonlinear neutral system Fractional Brownian motion observer-based controller Actuator fault Input saturation Linear fractional uncertainty

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Parametric design method for partial eigenstructure assignment of second-order linear systems via observer-based state feedback

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EUROPEAN JOURNAL OF CONTROL 2023年 71卷

作者： Gu, Da-Ke Duan, Sheng Wang, Rui-Yuan Liu, Yin-Dong Northeast Elect Power Univ Sch Automat Engn Jilin 132012 Peoples R China

In this article, a parametric method of observer-based partial eigenstrunt in second-order linear time -invariant (LTI) systems is explored. First, an observer is constructed to approximate the full sate vector when the entire state vector is not available for measurement. Meanwhile, the separation principle of the first-order linear systems is extended to second-order linear systems. Second, by partitioning the system matrix of the open-loop system into two parts, the satisfactory and unsatisfactory eigenstructures are selected. On the premise of retaining the satisfactory part in the open-loop system, the unsatisfactory eigenstructure assignment problem can be converted into the solutions of a type of generalized Sylvester equations (GSE). Third, by introducing a group of arbitrary parameters, complete parametric expressions of the proportional plus derivative (PD) state feedback controller can be obtained. The main advantage of the proposed method is that it provides all the design degrees of freedom and reduces the design complexity of the controller. Finally, the correctness of the proposed method is verified by two examples and simulation results. Using the degrees of freedom of the parameters, the gain matrices are optimized through the optimization index provided by the optimization function, and better performance is ob-tained.(c) 2023 European Control Association. Published by Elsevier Ltd. All rights reserved.

关键词： Generalized Sylvester equations (GSE) observer-based controller Parametric approach Partial eigenstructure assignment Second-order systems Separation principle

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Robust observer-based Piecewise Multi-Linear controller Design for Nonlinear Systems 10

Robust Observer-Based Piecewise Multi-Linear Controller Desi...

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Joint 10th International Conference on Soft Computing and Intelligent Systems (SCIS) / 19th International Symposium on Advanced Intelligent Systems (ISIS)

作者： Taniguchi, Tadanari Sugeno, Michio Tokai Univ IT Educ Ctr Hiratsuka Kanagawa Japan Tokyo Inst Technol Yokohama Kanagawa Japan

ISBN: (纸本)9781538626337

This paper proposes a robust observer-based piecewise multi-linear (PML) controller design using an observer linearization. The model is a nonlinear approximation and fully parametric. Feedback linearization is applied to stabilize the PML control system. However it is difficult to design the observer-based control system because the control system via observer linearization is not robust to modeling errors and perturbations. This paper shows the robust observer-based controller stabilizes TORA (Translational Oscillator with Rotating Actuator) system, which is one of the benchmark problem for nonlinear control. Examples are shown to confirm the feasibility of our proposals by computer simulation.

关键词： observer-based controller piecewise multi-linear model feedback linearization observer linearization problem

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On the lack of gradient domination for linear quadratic Gaussian problems with incomplete state information 60

On the lack of gradient domination for linear quadratic Gaus...

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60th IEEE Conference on Decision and Control (CDC)

作者： Mohammadi, Hesameddin Soltanolkotabi, Mahdi Jovanovic, Mihailo R. Univ Southern Calif Ming Hsieh Dept Elect & Comp Engn Los Angeles CA 90089 USA

ISBN: (纸本)9781665436595

Policy gradient algorithms in model-free reinforcement learning have been shown to achieve global exponential convergence for the Linear Quadratic Regulator problem despite the lack of convexity. However, extending such guarantees beyond the scope of standard LQR and full-state feedback has remained open. A key enabler for existing results on LQR is the so-called gradient dominance property of the underlying optimization problem that can be used as a surrogate for strong convexity. In this paper, we take a step further by studying the convergence of gradient descent for the Linear Quadratic Gaussian problem and demonstrate through examples that LQG does not satisfy the gradient dominance property. Our study shows the non-uniqueness of equilibrium points and thus disproves the global convergence of policy gradient methods for LQG.

关键词： Data-driven control gradient dominance gradient decent nonconvex optimization observer-based controller policy gradient reinforcement learning

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Continuous Super-Twisting observer-based Super-Twisting Control of Euler-Lagrange Systems 14th

Continuous Super-Twisting Observer-Based Super-Twisting Cont...

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14th International Conference on Intelligent Robotics and Applications (ICIRA)

作者： Cao, Guizhou Shi, Huige Zhang, Xiaoke Zhu, Zheran Liu, Yanhong Yu, Hongnian State Grid Henan Elect Power Res Inst Zhengzhou 450052 Peoples R China Zhengzhou Univ Sch Elect Engn Zhengzhou 450001 Peoples R China State Grid Nanyang Elect Power Supply Co Nanyang 473000 Peoples R China State Grid Jiaozuo Elect Power Supply Co Jiaozuo 454100 Henan Peoples R China Edinburgh Napier Univ Sch Engn & Built Environm Edinburgh Midlothian Scotland

ISBN: (纸本)9783030890957;9783030890940

Higher-order observer-based robust controllers are commonly applied to Euler-Lagrange (EL) systems in presence of unavoidable uncertainties and unmeasurable states. However, the controllers are constructed by an assumption of differential system uncertainties, which constrains the physical applications disrupted by non-differentiable noises, such as discontinuous signals. This paper proposed a continuous observer-based sliding mode controller by utilizing the super-twisting algorithm (STA) and an integral sliding mode surface, and the condition of uncertainties is relaxed to be bounded. First, an improved STA-based observer is employed to estimate system states and adaptively compensate system uncertainties. Second, a novel integral sliding mode surface is employed to design a continuous STA-based controller for EL systems in presence of uncertainties without knowledge of upper bound in prior. The proposed controller relaxes the differential uncertainties to be bounded, achieve continuous inputs and improve system robustness. Finally, numerical simulations verify the effectiveness of the proposed controller.

关键词： Euler-lagrange system Sliding model control Super-twisting algorithm observer-based controller

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Finite-time control for Markovian jump systems subject to randomly occurring quantization

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APPLIED MATHEMATICS AND COMPUTATION 2020年 385卷 125402-125402页

作者： Kang, Wei Gao, Qingfei Cao, Menglong Cheng, Jun Fuyang Normal Univ Coll Informat Engn Fuyang 236041 Peoples R China Harbin Inst Technol Sch Transportat Sci & Engn Harbin 150090 Peoples R China Qingdao Univ Sci & Technol Sch Automat & Elect Engn Qingdao 266000 Peoples R China Guangxi Normal Univ Coll Math & Stat Guilin 541006 Peoples R China

This paper is concerned with the issue of finite-time control for Markovian jump systems randomly occurring quantization. By absorbing the phenomena of unmeasurable state and randomly occurring quantization, a novel nonhomogeneous Markovian switching system is constructed, and an observer-based controller and non-fragile observer are designed. By utilizing Lyapunov function method, sufficient admissibility conditions are derived for the stability of the underlying system in a finite-time domain. Finally, a DC motor model is presented to explain the feasibility and validity of the proposed design method. (C) 2020 Elsevier Inc. All rights reserved.

关键词： Finite-time stability Markovian switching system observer-based controller Measurement quantization

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