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Adaptive Fuzzy predefined-time Cooperative Formation control for Multiple USVs With Universal Global Performance Constraints

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 2025年

作者： Song, Xiaona Wu, Chenglin Lam, Hak-Keung Wang, Xin Song, Shuai Henan Univ Sci & Technol Sch Informat Engn Luoyang 471000 Peoples R China Henan Univ Sci & Technol Henan Key Lab Robot & Intelligent Syst Luoyang 471000 Peoples R China Kings Coll London Dept Engn London WC2R 2LS England Heilongjiang Univ Sch Math Sci Harbin 150080 Peoples R China

The problem of predefined-time cooperative formation control for multiple unmanned surface vehicles with sensor faults and universal global performance constraints is investigated in this paper. Initially, a generic performance constraint strategy is proposed by integrating an improved global performance function, which eliminates the subpar reconfigurability present in the specific performance function-based global constraint schemes. By embedding the saturation compensation function, a feedback mechanism between the saturation constraint and performance constraint is established, instead of cutting off the analysis separately, by giving the constraint boundaries the flexibility to expand and contract. Subsequently, the inherently unmodeled dynamics and uncertainties of the controlled vehicle are reconstructed online by interval type-2 fuzzy logic systems. By integrating the predefined-time differentiator into the recursive design framework, an adaptive fuzzy predefined-time formation protocol is developed to provide a streamlined solution for adjusting the settling time and facilitates engineering implementation. The stability analysis rigorously proves that all the variables are practical predefined-time bounded. The illustrative results verify the feasibility and functionality of the developed formation control strategy.

关键词： Formation control Vehicle dynamics Silicon Protocols Convergence Uncertainty Fuzzy logic Adaptive systems Explosions Autonomous vehicles Cooperative formation control global performance constraint interval type-2 fuzzy logic systems multiple unmanned surface vehicles predefined-time control

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predefined-time adaptive fuzzy tracking control for switched nonlinear systems

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ASIAN JOURNAL OF control 2024年第4期26卷 1927-1938页

作者： Jin, Yitong Wang, Fang Zhao, Maoxian Shandong Univ Sci & Technol Coll Math & Syst Sci Qingdao Peoples R China Shandong Univ Sci & Technol Coll Math & Syst Sci Qingdao 266590 Peoples R China

The paper focuses on the issue of predefined-time adaptive fuzzy tracking control for switched nonlinear systems. The complicated unknown nonlinear function is approximated by utilizing the fuzzy logic system. A novel adaptive fuzzy control scheme is proposed by using the common Lyapunov function and backstepping technology on the basis of the definition of predefined-time stability, which can preset the setting time of tracking errors. The findings indicate that the presented controller can ensure that all signals remain bounded in the closed-loop system under arbitrary switching conditions, and the tracking error can converge to the neighborhood near the origin within a predefined time. The feasibility of the developed control approach is further proved through an example of numerical simulation.

关键词： adaptive fuzzy control predefined-time control switched nonlinear systems

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predefined-time Event-Triggered Adaptive Fuzzy Formation control for Nonholonomic Multirobot Systems

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IEEE TRANSACTIONS ON FUZZY SYSTEMS 2024年第12期32卷 6731-6743页

作者： Li, Kewen Dong, Shijie Liaoning Univ Technol Coll Sci Jinzhou 121001 Peoples R China Liaoning Univ Technol Coll Elect Engn Jinzhou 121001 Peoples R China

In this article, the problem of predefined-time event-triggered (PTET) robust adaptive fuzzy formation control is studied for nonholonomic multirobot systems (NMRSs) subject to multiple constraints and dead-zones. The adaptive estimation technique and fuzzy logic systems are used to identify nonlinear NMRSs with uncertain dynamics. By combining prescribed performance control method and introducing universal barrier functions, the transient and steady-state performances of the NMRSs are guaranteed, thereby further achieving collision avoidance and connectivity maintenance. On this basis, in order to achieve predefined-time convergence of formation errors and reduce the transmission frequency of control signals from controller to actuator for each robot with input dead-zones, a novel adaptive fuzzy robust PTET formation control strategy is further proposed by introducing predefined-time stability theory and designed trigger mechanism. It can avoid significant resource waste during rapid tracking processes, ensure the nonlinear NMRSs are predefined-time stable and all signals are bounded, which can be proved by constructing the barrier Lyapunov functions. In the end, the simulation studies are carried out to show the efficacy of the developed adaptive PTET formation control strategy.

关键词： Robots Collision avoidance Formation control Adaptive systems Maintenance Mobile robots Convergence Adaptive fuzzy robust control collision avoidance and connectivity maintenance dead-zones event-triggered control (ETC) nonholonomic multirobot systems (NMRSs) predefined-time control

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Fuzzy Adaptive predefined-time Decentralized Fault-Tolerant control for Fractional-Order Nonlinear Large-Scale Systems With Actuator Faults

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IEEE TRANSACTIONS ON FUZZY SYSTEMS 2024年第3期32卷 1000-1012页

作者： Tong, Shaocheng Cui, Mengyuan Liaoning Univ Technol Coll Sci Jinzhou 121001 Peoples R China

The predefined-time fuzzy adaptive output feedback decentralized fault-tolerant control (FTC) problem is considered for fractional-order nonlinear large-scale systems with intermittent actuator faults. First, the predefined-time stability criterion of fractional-order nonlinear systems is proposed, and then by using fuzzy logic systems to model unknown nonlinear dynamics, a fuzzy decentralized state observer is designed to solve the immeasurable state problem. Second, based on the established predefined-time stability criterion of the fractional-order systems, a predefined-time fuzzy adaptive output feedback decentralized FTC method is developed and the semiglobal practically predefined-time stable of the controlled system is proved. Finally, we apply the developed predefined-time FTC method to fractional-order smooth-air-gap permanent magnet synchronous motor system, the simulation results verify the effectiveness of the proposed predefined-time FTC methodology.

关键词： Fractional-order nonlinear large-scale systems (FONLS) fuzzy adaptive output feedback decentralized control intermittent actuator faults predefined-time control

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Nonsingular predefined-time dynamic surface control of a flexible-joint space robot with actuator constraints

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2024年第6期34卷 4213-4233页

作者： Liu, Liaoxue Gu, Xiutao Wang, Lu Guo, Jian Guo, Yu Nanjing Univ Sci & Technol Sch Automat Nanjing Peoples R China

To achieve predefined-time trajectory tracking control of a flexible-joint space robot(FJSR) with actuator constraints, a nonsingular predefined-time dynamic surface control scheme is developed. The input saturation caused by actuator constraints is addressed via the designed predefined-time anti-saturation compensator. On this basis, two different control laws are designed for such high-order nonlinear systems by utilizing the backstepping technique, and a novel nonlinear filter is constructed to filter the virtual control signals, thus avoiding the "differential expansion" phenomenon. Moreover, a singularity-free auxiliary function is designed to solve the singularity issue generated by the derivative of fractional power terms in the predefined-time control algorithm framework. The closed-loop system is proven to be semi-globally predefined-timely uniformly ultimately bounded (SGPTUUB) via constructing the suitable Lyapunov function. The difference and effectiveness of the two designed control laws are illustrated by the conducted simulations. Both of them allow the FJSR system to track the desired trajectory in a reasonably predefined time.

关键词： dynamic surface control flexible-joint space robot input saturation predefined-time control

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predefined-time Composite Adaptive Fuzzy Nonsingular Attitude control for Multi-UAVs

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IEEE TRANSACTIONS ON FUZZY SYSTEMS 2024年第12期32卷 6891-6903页

作者： Wang, Huanqing Li, Muxuan Zhang, Huaguang Liu, Siwen Bohai Univ Sch Math Sci Jinzhou 121000 Peoples R China Northeastern Univ Sch Informat Sci & Engn Shenyang 110004 Peoples R China

This article considers the predefined-time composite adaptive attitude control problem for nonlinear multiple six-rotor unmanned aerial vehicles (UAVs) with external disturbance. The multiple six-rotor UAVs considered are regarded as nonlinear multiagent systems, and each subsystem has multiple inputs. Via the backstepping recursive algorithm, a valid adaptive predefined-time control method is proposed by combining fuzzy logic systems (FLSs) and predefined-time theory. FLSs are utilized to handle unknown nonlinearity and unmodeled parts in attitude systems. By constructing a serial-parallel estimation model, the accuracy of approximating the unknown functions is ameliorated. Moreover, taking into account the prediction error of the serial-parallel estimation model, a novel composite adaptive fuzzy control scheme is developed. Unlike some existing control schemes for multi-UAVs, the developed control scheme allows one to shun the chattering phenomenon and ameliorate the approximation performance. The developed controller assures that all signals of the multiple six-rotor UAV attitude systems are bounded and the tracking errors converge to a small neighborhood of the origin within an expected settling time. Eventually, with the help of simulation results, the effectiveness of the proposed control scheme was illustrated.

关键词： Autonomous aerial vehicles Attitude control Fuzzy logic Estimation Adaptation models Accuracy Couplings Adaptive fuzzy attitude control multi-UAVs nonlinear MASs predefined-time control

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predefined-time Fault-Tolerant control for Active Vehicle Suspension Systems With Reference X-Dynamics and Conditional Disturbance Cancellation

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 2024年第11期25卷 18661-18672页

作者： Zhou, Zengcheng Zhang, Menghua Navarro-Alarcon, David Jing, Xingjian Hong Kong Polytech Univ Dept Mech Engn Hong Kong Peoples R China City Univ Hong Kong Dept Mech Engn Hong Kong Peoples R China Univ Jinan Sch Elect Engn Jinan 250022 Peoples R China City Univ Hong Kong Dept Mech Engn Hong Kong Peoples R China

Active vehicle suspension systems exhibit substantial vibration isolation capabilities, however, suffer from external disturbances, high energy consumption, risks of fault signals, limited transient performance, etc. In this paper, a predefined-time fault-tolerant control scheme is proposed for active suspensions to improve ride comfort and reliability, and enhance energy conservation. The reference X-dynamics together with a conditional disturbance cancellation scheme are developed to avoid the cancellation of beneficial nonlinearities and beneficial disturbances, respectively, which can reduce energy consumption without any optimization calculation or hardware alteration. Importantly, the error signals can converge to a predefined bound within the predefined time interval. Both the settling time and the residual bound can be arbitrarily user-defined, which are independent of initial states and control gains. Especially, to avoid singularity and alleviate chattering, a continuous piecewise function and a quadratic fraction inequality are constructed. The utilization of the proposed predefined-time fault-tolerant control facilitates satisfactory ride comfort with low energy cost. Experimental results are presented to validate the superior control performance of the designed control scheme.

关键词： Actuators Fault tolerant systems Fault tolerance Suspensions (mechanical systems) Energy consumption Force Damping predefined-time control actuator faults reference X-dynamics conditional disturbance cancellation

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predefined-time Adaptive Fuzzy Inverse Optimal control for Uncertain Nonlinear Systems

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INTERNATIONAL JOURNAL OF FUZZY SYSTEMS 2024年第2期26卷 625-644页

作者： Lu, Xinyi Wang, Fang Shandong Univ Sci & Technol Coll Math & Syst Sci Qingdao 266590 Shandong Peoples R China

A novel adaptive fuzzy predefined-time inverse approach is presented in this study, which enhances practical predefined-time stability to predefined-time stability. Unlike the existing optimal predefined-time control approaches, this method realizes the optimal performance without resolving the Hamilton-Jacobi-Bellman (HJB) equation, which simplifies the design and learning process. Firstly, by combining a Sontag-type function and a series of singularity-avoidance functions, an auxiliary controller is devised. Based upon this auxiliary controller, an inverse optimal predefined-time controller is set up. Secondly, based upon the method of two Lyapunov functions, it is demonstrated that the tracking error converges asymptotically to a predetermined interval within a predefined time and the inverse optimal stabilization is attained. Lastly, the availability of this method is testified through an example of the electromechanical system.

关键词： predefined-time control Inverse optimal control Adaptive fuzzy control Uncertain nonlinear systems

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Reinforcement Learning-Based Event-Triggered predefined-time Optimal Fuzzy control for Nonlinear Constrained Systems

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IEEE TRANSACTIONS ON FUZZY SYSTEMS 2024年第8期32卷 4646-4659页

作者： Song, Xiaona Sun, Peng Ahn, Choon Ki Song, Shuai Henan Univ Sci & Technol Sch Informat Engn Luoyang 471023 Peoples R China Korea Univ Sch Elect Engn Seoul 136701 South Korea

This article focuses on the switching event-triggered predefined-time fuzzy optimal control for full-state constrained nonlinear systems based on reinforcement learning (RL) algorithms. To fulfill the asymmetric full-state time-varying constraints (AFTCs), an emerging universal transformed function and error transformation were delicately adopted because they assist in eliminating the feasibility requirement induced by the related constrained issues. In addition, an RL-based optimal dynamic surface control solution was performed by leveraging the characteristics of predefined-time stability. The highlights of this study are that a modified nonsingular predefined-time filter featuring the hyperbolic tangent item and an adaptive parameter was constructed to overcome the curse of dimensionality and that the AFTC property was integrated into the optimal framework. Moreover, communication costs and control expenses were considerably minimized using an amended switching event-triggered mechanism. Under the predefined-time stability criterion, the reported control tactic ensures that the tracking error can approach the vicinity of the origin within a user-specified time while excluding the violation of the AFTC. Herein, two illustrative analyzes with comparisons are provided to confirm the efficacy and benefits of the reported control algorithm.

关键词： Switches Heuristic algorithms Stability criteria Reinforcement learning Optimal control Fuzzy logic Costs Asymmetric full-state constraints interval type-2 fuzzy predefined-time control reinforcement learning (RL) switching event-triggered mechanism (SETM)

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predefined-time Fuzzy Adaptive Fault-Tolerant control for 2-D Heterogeneous Port Unmanned Container Transporter Platoon with Infinite Actuator Faults

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INTERNATIONAL JOURNAL OF FUZZY SYSTEMS 2024年 1-15页

作者： Ma, Shuo Li, Kewen Li, Yongming Dalian Maritime Univ Nav Coll Dalian 116026 Liaoning Peoples R China Liaoning Univ Technol Coll Sci Jinzhou 121001 Liaoning Peoples R China

This article delves into the problem of predefined-time adaptive fuzzy fault-tolerant control (FTC) for heterogeneous port unmanned container transporter (HPUCT) platoons with an infinite array of actuator faults. The study involved a vehicle model on a two-dimensional (2-D) plane, which takes into account velocity direction deviation. To approximate the complex nonlinear dynamics of the selected vehicle model, fuzzy logic systems (FLSs) are harnessed. By using online estimation technique, an infinite number of actuator failures are handled by estimating the fault parameter bounds. Moreover, a predecessor following (PF) communication topology facilitates inter-vehicle information exchange. Subsequently, a novel predefined-time adaptive fuzzy fault-tolerant controller is designed subject to nonsingular terminal sliding mode control (SMC) technique and predefined-time stability theory, which ensures that the entire HPUCT platoon attains multi-lane fusion and vehicle stabilities within a predefined time. Finally, numerical comparative simulations underscore the viability of the proposed predefined-time FTC algorithm.

关键词： Heterogeneous port unmanned container transporter predefined-time control Infinite actuator faults Vehicle stability Nonlinear dynamics

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