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34th Chinese Control and Decision Conference (CCDC)

作者： Li, Jiawen Zhang, Yi Jin, Zhenghong Shenyang Univ Technol Sch Sci Shenyang 110870 Peoples R China Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110819 Peoples R China Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore

ISBN: (纸本)9781665478960

This paper studies the input-to-output stability (IOS) of nonlinear singular systems and presents the outputLagrange IOS (OL-IOS) small-gain theorem of the interconnected singular system. The major contribution of this paper includes three aspects. Firstly, the IOS property and OL-IOS property of nonlinear singular systems is established. Secondly, the conditions of IOS small-gain theorem for the interconnected singular system is obtained. Thirdly, the theorems for OL-IOS and the trajectory-based small-gain theorem of interconnected singular system are proposed. Finally, the effectiveness of proposed method is illustrated by using a numerical example.

关键词： input-to-output stability output-Lagrange input-to-output stability nonlinear singular systems small-gain theorem

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input-to-output stability of the nonlinear singular systems and small-gain theorem

Input-to-output stability of the nonlinear singular systems ...

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第34届中国控制与决策会议

作者： Jiawen Li Yi Zhang Zhenghong Jin School of Science Shenyang University of Technology State Key Laboratory of Synthetical Automation for Process Industries Northeastern University School of Electrical and Electronic Engineering Nanyang Technological University

This paper studies the input-to-output stability(IOS) of nonlinear singular systems and presents the outputLagrange IOS(OL-IOS) small-gain theorem of the interconnected singular *** major contribution of this paper includes three ***,the IOS property and OL-IOS property of nonlinear singular systems is ***,the conditions of IOS small-gain theorem for the interconnected singular system is ***,the theorems for OL-IOS and the trajectory-based small-gain theorem of interconnected singular system are ***,the effectiveness of proposed method is illustrated by using a numerical example.

关键词： input-to-output stability output-Lagrange input-to-output stability nonlinear singular systems small-gain theorem

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stability of forced higher-order continuous-time Lur'e systems: a behavioural input-output perspective

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INTERNATIONAL JOURNAL OF CONTROL 2024年第8期97卷 1788-1809页

作者： Guiver, Chris Logemann, Hartmut Edinburgh Napier Univ Sch Comp Engn & Built Environm Edinburgh Scotland Univ Bath Dept Math Sci Bath England Edinburgh Napier Univ Sch Comp Engn & Built Environm Merchiston Campus10 Colinton Rd Edinburgh EH10 5DT Scotland

We consider a class of forced continuous-time Lur'e systems obtained by applying nonlinear feedback to a higher-order linear differential equation which defines an input-output system in the sense of behavioural systems theory. This linear system directly relates the input and output signals and does not involve any internal, latent or state variables. A stability theory subsuming results of circle criterion type is developed, including criteria for input-to-output stability and strong integral input-to-output stability, concepts which are very much reminiscent of input-to-state stability and strong integral input-to-state stability, respectively. The methods used in the paper combine ideas from the behavioural approach to systems and control, absolute stability theory and input-to-state stability theory.

关键词： Absolute stability behaviours circle criterion forced higher-order differential equations input-to-output stability Lur'e systems

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Finite-dimensional output stabilization for a class of linear distributed parameter systems-A small-gain approach

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SYSTEMS & CONTROL LETTERS 2022年 164卷

作者： Gruene, L. Meurer, T. Univ Bayreuth Math Inst Chair Appl Math D-95440 Bayreuth Germany Univ Kiel Chair Automation & Control Kaiserstr 2 D-24143 Kiel Germany

A small-gain approach is proposed to analyze closed-loop stability of linear diffusion-reaction systems under finite-dimensional observer-based state feedback control. For this, the decomposition of the infinite-dimensional system into a finite-dimensional slow subsystem used for design and an infinite dimensional residual fast subsystem is considered. The effect of observer spillover in terms of a particular (dynamic) interconnection of the subsystems is thoroughly analyzed for in-domain and boundary control as well as sensing. This leads to the application of a small-gain theorem for interconnected systems based on input-to-output stability and unbounded observability properties. Moreover, an approach is presented for the computation of the required dimension of the slow subsystem used for controller design. Simulation scenarios for both scalar and coupled linear diffusion reaction systems are used to underline the theoretical assessment and to give insight into the resulting properties of the interconnected systems. (C) 2022 Elsevier B.V. All rights reserved.

关键词： Small-gain theory Diffusion-reaction systems Spillover input-to-output stability Partial differential equations Modal approximation

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A Path-Following Controller for Marine Vehicles Using a Two-Scale Inner-Outer Loop Approach

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SENSORS 2022年第11期22卷 4293-4293页

作者： Maurya, Pramod Morishita, Helio Mitio Pascoal, Antonio Aguiar, A. Pedro CSIR Natl Inst Oceanog Panaji 403004 Goa India Univ Sao Paulo Polytech Sch Dept Naval Architecture & Ocean Engn Sao Paulo Campus BR-05508030 Sao Paulo Brazil Univ Lisbon Inst Syst & Robot ISR IST P-1049001 Lisbon Portugal Univ Porto Fac Engn Res Ctr Syst & Technol P-4200465 Porto Portugal Univ Porto Fac Engn Dept Elect & Comp Engn P-4200465 Porto Portugal

This article addresses the problem of path following of marine vehicles along straight lines in the presence of currents by resorting to an inner-outer control loop strategy, with due account for the presence of currents. The inner-outer loop control structures exhibit a fast-slow temporal scale separation that yields simple "rules of thumb" for controller tuning. Stated intuitively, the inner-loop dynamics should be much faster than those of the outer loop. Conceptually, the procedure described has three key advantages: (i) it decouples the design of the inner and outer control loops, (ii) the structure of the outer-loop controller does not require exact knowledge of the vehicle dynamics, and (iii) it provides practitioners a very convenient method to effectively implement path-following controllers on a wide range of vehicles. The path-following controller discussed in this article is designed at the kinematic outer loop that commands the inner loop with the desired heading angles while the vehicle moves at an approximately constant speed. The key underlying idea is to provide a seamless implementation of path-following control algorithms on heterogeneous vehicles, which are often equipped with heading autopilots. To this end, we assume that the heading control system is characterized in terms of an IOS-like relationship without detailed knowledge of vehicle dynamics parameters. This paper quantitatively evaluates the combined inner-outer loop to obtain a relationship for assessing the combined system's stability. The methods used are based on nonlinear control theory, wherein the cascade and feedback systems of interest are characterized in terms of their IOS properties. We use the IOS small-gain theorem to obtain quantitative relationships for controller tuning that are applicable to a broad range of marine vehicles. Tests with AUVs and one ASV in real-life conditions have shown the efficacy of the path-following control structure developed.

关键词： path following inner-outer loop control input-to-output stability AUVs ASVs

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On the relation of IOS-gains and asymptotic gains for linear systems

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SYSTEMS & CONTROL LETTERS 2021年 152卷 104934-104934页

作者： Karafyllis, Iasson Natl Tech Univ Athens Dept Math Zografou Campus Athens 15780 Greece

This paper presents a fundamental relation between output Asymptotic Gains (OAG) and input-to-output stability (IOS) gains for linear systems. For any input-to-State Stable, strictly causal linear system the minimum OAG is equal to the minimum IOS-gain. Moreover, both quantities can be computed by solving a specific optimal control problem and by considering only periodic inputs. The result is valid for wide classes of linear systems (including delay systems or systems described by PDEs). The characterization of the minimum IOS-gain is important because it allows the non-conservative computation of the IOS-gains, which can be used in a small-gain analysis. The paper also presents a number of cases for finite-dimensional linear systems, where exact computation of the minimum IOS-gain can be performed. (C) 2021 Elsevier B.V. All rights reserved.

关键词： input-to-State stability input-to-output stability Gain Asymptotic gain Linear system

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Feedback synchronization in Persidskii systems 21st

Feedback synchronization in Persidskii systems

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21st IFAC World Congress on Automatic Control - Meeting Societal Challenges

作者： Mei, Wenjie Efimov, Denis Ushirobira, Rosane Univ Lille CNRS INRIA UMR 9189CRIStAL F-59000 Lille France ITMO Univ 49 Kronverkskiy Av St Petersburg 197101 Russia

A general synchronization scheme for the common dynamics of Persidskii systems is presented in this paper. The conditions of output stability of the closed-loop systems and their synchronization are established in the form of linear matrix inequalities (LMI). An example of Chua's circuit is considered for examining the effectiveness of our proposed results. A designing method of feedback gains is also introduced. Copyright (C) 2020 The Authors.

关键词： Synchronization Persidskii systems input-to-output stability Chua's circuit feedback gains

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Feedback synchronization in Persidskii systems ⁎

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IFAC-PapersOnLine 2020年第2期53卷 2880-2884页

作者： Wenjie Mei Denis Efimov Rosane Ushirobira Inria Univ. Lille CNRS UMR 9189 - CRIStAL F-59000 Lille France ITMO University 49 Kronverkskiy av. 197101 Saint Petersburg Russia

A general synchronization scheme for the common dynamics of Persidskii systems is presented in this paper. The conditions of output stability of the closed-loop systems and their synchronization are established in the form of linear matrix inequalities (LMI). An example of Chua’s circuit is considered for examining the effectiveness of our proposed results. A designing method of feedback gains is also introduced.

关键词： Synchronization Persidskii systems input-to-output stability Chua’s circuit feedback gains

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Event-Triggered Control Systems Under Denial-of-Service Attacks

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IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS 2017年第1期4卷 93-105页

作者： Dolk, V. S. Tesi, P. De Persis, C. Heemels, W. P. M. H. Eindhoven Univ Technol Control Syst Technol Grp Dept Mech Engn NL-5600 MB Eindhoven Netherlands Univ Groningen Fac Math & Nat Sci Groningen Netherlands

In this paper, we propose a systematic design framework for output-based dynamic event-triggered control (ETC) systems under denial-of-service (DoS) attacks. These malicious DoS attacks are intended to interfere with the communication channel causing periods in time at which transmission of measurement data is impossible. We show that the proposed ETC scheme, if well designed, can tolerate a class of DoS signals characterized by frequency and duration properties without jeopardizing the stability, performance and Zeno-freeness of the ETC system. In fact, the design procedure of the ETC condition allows tradeoffs between performance, robustness to DoS attacks, and utilization of communication resources. The main results will be illustrated by means of a numerical example.

关键词： Denial-of-service attacks dynamic output-based control event-triggered control input-to-output stability networked control systems resilient control resource-aware control

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Adaptive Fuzzy Control of Multilateral Asymmetric Teleoperation for Coordinated Multiple Mobile Manipulators

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IEEE TRANSACTIONS ON FUZZY SYSTEMS 2016年第1期24卷 57-70页

作者： Zhai, Di-Hua Xia, Yuanqing Beijing Inst Technol Sch Automat Beijing 100081 Peoples R China

This paper addresses adaptive fuzzy control for multimaster-multislave teleoperation for multiple mobile manipulators carrying a common object in a cooperative manner that subjected to asymmetric time-varying delays and model parameter uncertainties. In the proposed control framework, a novel switched error filtering is designed. By introducing the filtering output in the control torque design, the complete closed-loop master/slave systems are modeled as a special class of switched system that are composed of two subsystems, i.e., the local master (slave) dynamics with well-defined auxiliary variable and the switched error filter subsystem, which is fairly different from the existing subsystem decomposition method. Utilizing the Lyapunov-Krasovskii method, the complete closed-loop master (slave) system is proved to be state-independent input-to-output stable. The proposed scheme has overcome some application limitations existing in the literature. It is shown that the position tracking errors and the parameter estimation errors can remain bounded under the proposed control laws, which are validated by simulation studies.

关键词： Adaptive fuzzy control input-to-output stability multilateral asymmetric teleoperation time-varying delay

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