This article addresses the cooperative output consensus tracking problem for high-order heterogeneous multi-agent systems via a distributed proportional-integral-derivative (pid)-like control strategy and proposes two...
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This article addresses the cooperative output consensus tracking problem for high-order heterogeneous multi-agent systems via a distributed proportional-integral-derivative (pid)-like control strategy and proposes two novel control methodologies for the tuning of the control gains, which do not require any assumption and/or limitation on agent system modeling. By extending the static output feedback (SOF) paradigm to distributed domain, the asymptotic stability problem for the overall MAS composed of N$$ N $$ agents is revisited into N$$ N $$ decoupled stabilization problems to be solved. Then, by exploiting the Lyapunov and matrix theory, the typical SOF bilinear matrix inequality (BMI)-based stability conditions are recast into N$$ N $$ feasible linear matrix inequality (LMI)-based ones, whose solutions allow finding the proper values of the pid control gains ensuring the achievement of the cooperative task. In doing so, the proposed procedures reduce the computational effort required for the control design, hence providing a greater attraction for a wider range of practical engineering applications. The scalability and the adaptability of the proposed control methodology in solving an alternative cooperative control problem in the presence of multiple leaders, that is, the output containment task, are also analytically investigated. Numerical simulations confirm the effectiveness of the theoretical derivations.
At present, most of the control systems of the full swing ship adopt the classical PI control or open loop transfer method, which has low control accuracy and slow response speed. In this paper, the idea of intelligen...
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ISBN:
(纸本)9789819722747;9789819722754
At present, most of the control systems of the full swing ship adopt the classical PI control or open loop transfer method, which has low control accuracy and slow response speed. In this paper, the idea of intelligent distributed control is introduced into the control of the propulsion device of the full swing ship pod, and the physical model and mathematical model of the hydraulic propulsion system of the pod are established. The pid control strategy based on fuzzy reasoning is designed for the full rotary propulsion device, which can accurately and reliably control the rotation Angle of the pod. Finally, the modeling and simulation of the full rotary hydraulic propulsion system of the pod are carried out under small Angle conditions. The results show that the rotation Angle error is small, and the proposed method has application value.
A conventional grinding circuit consisting of one open-loop rod mill and one closed-loop ball mill is essentially a two-inputX two-output system, assuming that the classifier pump box level is controlled by a local lo...
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A conventional grinding circuit consisting of one open-loop rod mill and one closed-loop ball mill is essentially a two-inputX two-output system, assuming that the classifier pump box level is controlled by a local loop. The inputs are the ore and water feed rates and the outputs are the product fineness and the circulating load. The design problem is to find a control algorithm and a tuning procedure which satisfy specified servo and regulatory robust performances. A first approach is to use decentralized pid controllers and systematic tuning methods which take into account loop interactions. Another technique consists of adding decouplers or pseudo-decouplers to the decentralized controllers. Finally, the design of a fully multivariable controller is a possible option. To face the problem of performance robustness related to change of process dynamics, two options are studied. A design criterion involving the minimization of a penalized quadratic function on a future trajectory can be used. A second alternative is to track process dynamics changes using adaptive process modelling. The paper will present a comparison of these various strategies, for a simulated grinding circuit. A benchmark test, involving a sequence of disturbances (grindability, feed size distribution, change of cyclone number...) and setpoint changes, is used to compare the performances of the controllers. (C) 2000 Elsevier Science S.A. All rights reserved.
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