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10th IFAC Triennial Conference on Manufacturing Modelling, Management and control (MIM)

作者： Imran, Imil Hamda Montazeri, Allahyar Univ Lancaster Dept Engn Lancaster LA1 4YW England

This paper studies leader-following synchronization control of a group of multiple quadrotor unmanned aerial systems (UASs). A robust distributed scheme is developed to maintain the attitude motions of UASs with an active virtual leader. Complicated settings are considered in the design, where the topology is in a directed graph, and only one or some agents are connected to the leader. UASs can have different dynamic parameters. Also, some time-varying disturbances are added to the closed-loop system. A control protocol containing a robust term is proposed to each UAS to achieve asymptotic consensus. A rigorous mathematical proof and numerical example are presented to demonstrate the effectiveness of our scheme. Copyright (C) 2022 The Authors.

关键词： Quadrotor unmanned aerial systems (UASs) robust distributed scheme synchronization control leader-following consensus and time-varying disturbance

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Precise Linear-Motor synchronization control via Cross-Coupled Second-Order Discrete-Time Fractional-Order Sliding Mode

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2021年第1期26卷 358-368页

作者： Kuang, Zhian Gao, Huijun Tomizuka, Masayoshi Harbin Inst Technol Res Inst Intelligent Control & Syst Harbin 150001 Peoples R China Harbin Inst Technol State Key Lab Robot & Syst Harbin 150001 Peoples R China Univ Calif Berkeley Mech Engn Dept Mech Control Syst Lab Berkeley CA 94720 USA

This article presents a universal method of precise synchronization control for linear-motor-driven systems. The control method named cross-coupled second-order discrete-time fractional-order sliding mode control contains a cross-coupled control strategy to reduce the incoordination among driving linear motors. It also includes the second-order structure and fractional-order sliding mode surface to reduce the chattering phenomenon and improve the dynamic performance simultaneously, so that the precision is further enhanced. In particular, a universal definition of synchronization error is presented so that a better synchronization control performance can be achieved, especially in multidimensional systems. It is also compatible well with the contouring control, which extends the application further. Moreover, the stability of the controller is analyzed in this article. Finally, the proposed control method is conducted in simulations and experiments under various tasks, whose results have proved its effectiveness and advantages over conventional methods.

关键词： synchronization Task analysis Force Sliding mode control Uncertainty Robustness Fractional-order linear motor second-order sliding mode control (SMC) synchronization control

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Improvement on Ride Comfort of Half Vehicle Active Suspension System Using synchronization control Strategy 24

Improvement on Ride Comfort of Half Vehicle Active Suspensio...

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24th Robotics Mexican Congress (COMRob)

作者： Alvarez-Sanchez, Ervin Aldana-Franco, Rosario Leyva-Retureta, Gustavo Aldana-Franco, Fernando Univ Veracruzana Cuerpo Acad Ingn Transdisciplinar Fac Ingn Mecan & Elect Xalapa Veracruz Mexico

ISBN: (数字)9798350331493

ISBN: (纸本)9798350331493

The goal of this paper is to present a system of a half vehicle that helps to improve the comfort of passengers on the road. This system is composed by a two-degree of freedom uncoupled subsystems instead of a typical four-degree of freedom coupled system. Road disturbances are applied to each subsystem with a certain time delay between front and rear axle signals which is done with the intention of providing a road simulation profile nearest to the real one. Half-vehicle open dynamics are designed to show vertical and rotational movements induced by road disturbances over the ride comfort. By means of a synchronization control strategy, that uses a virtual master subsystem and front and rear subsystems as slaves, perturbations are minimized This allows to obtain the same vertical movement in both the front and the rear axle subsystem, and no rotational movements even with time delay in road disturbances. Simulation results show that the synchronized subsystem behavior and vertical displacement of the coupled system operations work as desired. Also, the approach yields an improvement in the ride comfort.

关键词： Ride Comfort Suspension System Half Vehicle synchronization control

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Adaptive fuzzy echo state network optimal synchronization control of hybrid-order chaotic systems via reinforcement learning

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CHAOS SOLITONS & FRACTALS 2024年 181卷

作者： Zhong, Mei Huang, Chengdai Cao, Jinde Liu, Heng Guangxi Minzu Univ Ctr Appl Math Guangxi Sch Math & Phys Nanning 530006 Peoples R China Xinyang Normal Univ Sch Math & Stat Xinyang 464000 Peoples R China Southeast Univ Sch Math Nanjing 211189 Peoples R China Ahlia Univ Manama 10878 Bahrain

In this paper, a novel optimal synchronization control scheme for fractional-integer hybrid-order chaotic systems is formulated. To deal with the fractional-order (FO) constraint, a transformation programme is developed and then the master system considered as an FO chaotic system is transformed into an integer- order one. A fuzzy echo state network (FESN) with the advantages of both fuzzy logic system and echo state network is introduced to approximate system uncertainty. Simultaneously, to alleviate the resource pressure, an optimal synchronization control is proposed in the light of the reinforcement learning mechanism, in which critic-actor update laws are constructed through the negative gradient of a positive function with regard to Bellman residual. Compared to typical fuzzy synchronization control, the devised FESN synchronization scheme with the same computational complexity possess superior approximation ability and synchronization performance. Ultimately, three simulation cases are exhibited to check the validity of the proposed approach.

关键词： Chaotic system synchronization control Fuzzy echo state network Optimal control Reinforcement learning

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Tracking and synchronization control strategy of vehicle dual-motor steer-by-wire system via super-twisting SOSMC and MDCS

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MECHANICAL SYSTEMS AND SIGNAL PROCESSING 2023年 183卷

作者： Zou, Songchun Zhao, Wanzhong Wang, Chunyan Nanjing Univ Aeronaut & Astronaut Coll Energy & Power Engn Nanjing 210016 Peoples R China

This paper proposes a novel vehicle dual-motor steer-by-wire (SBW) system to improve the reliability and safety of traditional SBW system. However, the dual-motor SBW system is a strongly coupled, nonlinear and multivariable system, whose biggest challenge is the tracking and synchronization control. In order to improve the tracking and synchronization control perfor-mance of dual-motor SBW system, a tracking and synchronization control strategy of vehicle dual -motor SBW system via super-twisting second-order sliding mode control (SOSMC) and mean deviation coupling structure (MDCS) is proposed. Firstly, the steering motor model, rack and pinion model and vehicle dynamics model are established. Then, the angle tracking controller based on super-twisting SOSMC is designed to ensure the robustness and tracking performance of each motor. Next, the MDCS and the angle synchronization controller based on super-twisting SOSMC are proposed to compensate the synchronization error between dual-motor caused by mismatched driving force, external interference and parameter uncertainty. Finally, the simula-tion analysis is carried out by using Carsim/Simulink and the hardware-in-the-loop experiment is implemented based on the dual-motor experimental platform. The simulation and experimental results verify the effectiveness of the proposed control strategy.

关键词： Dual-motor Steer-by-wire Tracking control Second-order sliding mode control Mean deviation coupling structure synchronization control

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Event-Based Pinning synchronization control for Time-Delayed Complex Dynamical Networks: The Finite-Time Boundedness

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IEEE TRANSACTIONS ON SIGNAL AND INFORMATION PROCESSING OVER NETWORKS 2021年 7卷 730-739页

作者： Liu, Shuai Xu, Tianlin Tian, Engang Univ Shanghai Sci & Technol Coll Sci Shanghai 200093 Peoples R China Univ Shanghai Sci & Technol Sch Opt Elect & Comp Engn Shanghai 200093 Peoples R China

The paper is concerned with the synchronization control issue for a kind of nonlinear discrete time-delayed complex dynamical networks. To improve energy efficiency, a dynamic event-triggering strategy is introduced to regulate the signal transmission from the controller to the actuator. Then, the event-based pinning feedback control strategy is adopted to control a small fraction of the network nodes with hope to reduce the frequency of updating and communication in control process. Subsequently, a new concept of finite-time boundedness in the mean square is put forward to evaluate the synchronization control performance by means of a settling-like time function. Furthermore, by using the Lyapunov stability theory and the stochastic analysis technique, a sufficient condition is provided to ensure that the synchronization error is finite-time bounded in the mean square with a prescribed error upper bound in the presence of both time-delay and external noise disturbances. By solving an optimization problem with some inequality constraints, the desired controller gain matrix is parameterized to minimize the settling-like time. Finally, a numerical simulation example is carried out to illustrate the effectiveness and usefulness of the obtained theoretical results.

关键词： synchronization Complex networks Symmetric matrices Information processing Stochastic processes Optimization Indexes Complex dynamical networks dynamic event-triggered mechanism pinning control synchronization control finite-time boundedness

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Pinning synchronization control for a Class of Dynamical Networks with Coupled Time-Varying Delays: An Interval-Observer-Based Approach

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CIRCUITS SYSTEMS AND SIGNAL PROCESSING 2021年第1期40卷 154-173页

作者： Liu, Linlin Wei, Guoliang Wang, Licheng Univ Shanghai Sci & Technol Coll Sci Shanghai 200000 Peoples R China Univ Shanghai Sci & Technol Dept Control Sci & Engn Shanghai 200000 Peoples R China

This paper is concerned with the pinning synchronization control issue for a class of discrete-time complex dynamical networks. By resorting to the interval observer approach, a novel pinning synchronization control strategy is adopted to control a small fraction of the network nodes with hope to reduce the implementation cost. By using the Lyapunov stability theorem, some synchronization criteria have been derived to ensure the desired synchronization performance. Finally, a numerical simulation is presented to illustrate the effectiveness and usefulness of the theoretical results.

关键词： Complex dynamical networks Pinning control Interval observer synchronization control Coupled time-varying delay

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synchronization control of stochastic delayed Lotka-Volterra systems with hardware simulation

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ADVANCES IN DIFFERENCE EQUATIONS 2020年第1期2020卷 1-13页

作者： Wang, Lan Dong, Yiping Xie, Da Zhang, Hao Wuxi Insitute Technol Dept Fundamental Courses Wuxi Jiangsu Peoples R China Southeast Univ Sch Math Nanjing Peoples R China China Key Syst & Integrated Circuit Co Ldt Wuxi Jiangsu Peoples R China Sun Yat Sen Univ Sch Life Sci Guangzhou Peoples R China

In this paper, the synchronization control of a non-autonomous Lotka-Volterra system with time delay and stochastic effects is studied. The purpose is to firstly establish sufficient conditions for the existence of global positive solution by constructing a suitable Lyapunov function. Some synchronization criteria are then derived by designing an appropriate full controller and a pinning controller, respectively. Finally, an example is presented to illustrate the feasibility and validity of the main theoretical results based on the Field-Programmable Gate Array hardware simulation tool.

关键词： synchronization control Lotka-Volterra system Stochastic effects Lyapunov function Field-Programmable Gate Array

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A novel synchronization control with index adjuster for stochastic neural networks via trace similarity

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EUROPEAN JOURNAL OF control 2023年 69卷

作者： Zhou, Xianghui Wang, Xin Cao, Jinde Yan, Zizong Anhui Normal Univ Sch Math & Stat Wuhu 241000 Anhui Peoples R China Huaiyin Normal Univ Sch Comp Sci & Technol Huaian 223300 Jiangsu Peoples R China Southeast Univ Sch Math Nanjing 21099 Peoples R China Yonsei Univ Yonsei Frontier Lab Seoul 03722 South Korea Yangtze Univ Sch Informat & Math Jingzhou 434023 Peoples R China

Based on the stability of the error system, we focus on the synchronization control of Stochastic Neural Networks (SNNs) with Time-Varying Delays (TVD). In order to observe the effect of the slave system following the drive system, we carry out the output result analysis of networks based on logic framework for the drive-follow systems. The constructive method and extremum theory are utilized to prove that the sample traces are similar to the state traces of the systems. For achieving the efficient control of the error system, the gain matrix of the controller with index regulator is designed to adjust the intensity of the parameters. Through one contrast analysis, the proposed control method is superior to the control approach given by comparative literature. Employing rigorous derivation, the exponential synchronous conditions are obtained based on trace similarity and the Lyapunov stability principle. In particular, one numerical example with three neurons fully validates the obtained results. (c) 2022 European control Association. Published by Elsevier Ltd. All rights reserved.

关键词： Neural networks synchronization control Trace similarity Index adjuster Error system

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Multi-agent differential game based cooperative synchronization control using a data-drivenmethod

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Frontiers of Information Technology & Electronic Engineering 2022年第7期23卷 1043-1056页

作者： Yu SHI Yongzhao HUA Jianglong YU Xiwang DONG Zhang REN School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Institute of Artificial Intelligence Beihang UniversityBeijing 100191China

This paper studies the multi-agent differential game based problem and its application to cooperative synchronization control.A systematized formulation and analysis method for the multi-agent differential game is proposed and a data-driven methodology based on the reinforcement learning(RL)technique is ***,it is pointed out that typical distributed controllers may not necessarily lead to global Nash equilibrium of the differential game in general cases because of the coupling of networked ***,to this end,an alternative local Nash solution is derived by defining the best response concept,while the problem is decomposed into local differential *** off-policy RL algorithm using neighboring interactive data is constructed to update the controller without requiring a system model,while the stability and robustness properties are ***,to further tackle the dilemma,another differential game configuration is investigated based on modified coupling index *** distributed solution can achieve global Nash equilibrium in contrast to the previous case while guaranteeing the *** equivalent parallel RL method is constructed corresponding to this Nash ***,the effectiveness of the learning process and the stability of synchronization control are illustrated in simulation results.

关键词： Multi-agent system Differential game synchronization control Data-driven Reinforcement learning

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