作者：
Liu, JianShi, JinglongWu, YongbaoWang, XiaoSun, JiaSun, ChangyinSoutheast Univ
Sch Automat Key Lab Measurement & Control Complex Syst Engn Minist Educ Nanjing 210096 Peoples R China Anhui Univ
Anhui Prov Engn Res Ctr Unmanned Syst & Intelligen Sch Artificial Intelligence Hefei 230601 Peoples R China Anhui Univ
Engn Res Ctr Autonomous Unmanned Syst Technol Sch Artificial Intelligence Minist Educ Hefei Peoples R China
In this study, an event-based control strategy is proposed for second-order disturbed multi-agent systems (MASs) to achieve predefined-time practical consensus. In comparison to the finite/fixed-timecontrol, the pred...
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In this study, an event-based control strategy is proposed for second-order disturbed multi-agent systems (MASs) to achieve predefined-time practical consensus. In comparison to the finite/fixed-timecontrol, the predefined-time consensus (PTC) control can be achieved in a completely pre-specified time. For the predefined-time second-order practical consensus, the global information of the system is not required to calculate the estimate of the convergence time, including the initial states and communication topology. In addition, the singular problem and the communication loop problem are also avoided. Moreover, an event-based control strategy is developed to obtain the predefined-time second-order practical consensus, which can effectively reduce the operating frequency and wear of actuator under the predefined-time convergence. Furthermore, the control input and the measurement error are designed by utilizing the hyperbolic tangent function, then the non-differential problem and Zeno behavior can be excluded. Finally, an example of connected automated vehicles is given to validate the effectiveness of our results.
In this paper, predefined-time leader-following (LF) consensus is investigated for multi-agent systems (MASs) with collision avoidance. A monotone system-based controller is proposed to maintain the order of a MAS. Pa...
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ISBN:
(数字)9781665498876
ISBN:
(纸本)9781665498876
In this paper, predefined-time leader-following (LF) consensus is investigated for multi-agent systems (MASs) with collision avoidance. A monotone system-based controller is proposed to maintain the order of a MAS. Particularly, two sufficient conditions are derived to guarantee collision-free coordination of the MAS, while realizing LF consensus in predefined-time. Numerical examples including comparison studies are provided to verify the effectiveness of the proposed controller.
In addition to stability and accuracy, rapidity is another important index of the performance of control systems. The current fixed time design cannot meet the requirement for rapidity. The design to meet this require...
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In addition to stability and accuracy, rapidity is another important index of the performance of control systems. The current fixed time design cannot meet the requirement for rapidity. The design to meet this requirement must be such that the settling time can be given in advance, that is, the so-called predefined-time design. This paper deals with the predefined-time consensus problem for a class of nonholonomic chained-form multiagent dynamic systems with unknown disturbances. First, a distributed observer for each follower is investigated such that the leader state can be estimated by the followers in a predefinedtime. Based on this observer, a switching consensus tracking controller is proposed to ensure that the tracking errors converge to zero within a predefinedtime. Compared with the existing finite-time and fixed-time schemes, the upper bound of the settling time is an directly tunable control parameter, and the settling time can be easily tuned by the control parameter. The stability of the closed-loop system is proved by the Lyapunov method. A simulation example of wheeled mobile robots is performed to demonstrate the effectiveness of the proposed controllers.
In this article, a recursive predefined-time observer-based adaptive predefined-time nonsingular terminal sliding mode (RPTO-APTNTSM) control strategy is proposed for a class of uncertain nonlinear systems. First, a n...
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In this article, a recursive predefined-time observer-based adaptive predefined-time nonsingular terminal sliding mode (RPTO-APTNTSM) control strategy is proposed for a class of uncertain nonlinear systems. First, a novel PTNTSM controller is designed to guarantee the system tracking error converge to zero in a predefined-time, where the controller is global non-singular and the setting time of the control system is independent of the initial states and can be set in advance. Then, a fast nested adaptive law is constructed to update the control gain. With the adaptive method, the adaptive gain can be automatically adjusted with the uncertainty's upper bound, such that not only the system robustness is improved, but also the prior upper bound constraint of the uncertainty is removed. To mitigate chattering caused by undesired large control gain, the RPTO is developed for uncertainty compensation. Therefore, the control gain can be further updated to the upper bound of the uncertainty estimation error, which is much smaller than the uncertainty's upper bound, thereby the chattering is minimized. A detailed Lyapunov stability proof of the proposed strategy is provided. Finally, simulations and experiments on a Steer-by-Wire system are conducted to validate the superiority of the control strategy.
Recently, there has been a great deal of attention in a class of finite-time stable dynamical systems, called fixed-time stable, that exhibit uniform convergence with respect to its initial condition, that is, there e...
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Recently, there has been a great deal of attention in a class of finite-time stable dynamical systems, called fixed-time stable, that exhibit uniform convergence with respect to its initial condition, that is, there exists an upper bound for the settling-time (UBST) function, independent of the initial condition of the system. Of particular interest is the development of stabilizing controllers where the desired UBST can be selected a priori by the user since it allows the design of controllers to satisfy real-time constraints. Unfortunately, existing methodologies for the design of controllers for fixed-time stability exhibit the following drawbacks: on the one hand, in methods based on autonomous systems, either the UBST is unknown or its estimate is very conservative, leading to over-engineered solutions;on the other hand, in methods based on time-varying gains, the gain tends to infinity, which makes these methods unrealizable in practice. To bridge these gaps, we introduce a design methodology to stabilize a perturbed chain of integrators in a fixed-time, with the desired UBST that can be set arbitrarily tight. Our approach consists of redesigning autonomous stabilizing controllers by adding time-varying gains. However, unlike existing methods, we provide sufficient conditions such that the time-varying gain remains bounded, making our approach realizable in practice.
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