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input-to-state practical stability of Event-triggered Estimators for Discrete-time Recurrent Neural Networks With Unknown Time-delay

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INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 2024年第2期22卷 593-602页

作者： Wang, Yougang Liu, Yashuan Ding, Sanbo Lyuliang Univ Dept Math Lyuliang 033001 Peoples R China Hebei Univ Technol Sch Artificial Intelligence Tianjin 300401 Peoples R China Control Engn Technol Res Ctr Hebei Prov Tianjin 300401 Peoples R China

In this paper, event-triggered estimators are designed for discrete-time recurrent neural networks (RNNs) with unknown time-delay. Owing to the diversity and complexity of time-delays, it is difficult to accurately predict their information. Under the boundedness of activation functions, the delay-depend term is regarded as a bounded nonlinear disturbance. Two event-triggered estimators are designed to estimate the neuron states. The first one considers the case that the system states are subject to unknown time-delay, and the second one deals with the case that both the system states and measurement outputs are subject to unknown time-delay. The sufficient conditions are developed to guarantee the input-to-state practical stability of estimation error systems. Finally, the dynamic event-triggered strategy is introduced to further reduce the events. Two numerical examples are given to show the validity of the developed scheme.

关键词： Discrete-time recurrent neural networks event-triggered strategy input-to-state practical stability stability analysis state estimation unknown time-delay

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input-to-state practical stability for nonautonomous nonlinear infinite-dimensional systems

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2023年第10期33卷 5834-5847页

作者： Damak, Hanen Hammami, Mohamed Ali Heni, Rahma Sfax Univ Fac Sci Dept Math Sfax Tunisia Sfax Univ Fac Sci Dept Math Lab Stabil & Control Syst & Nonlinear PDEs Sfax Tunisia

In this article, we are concerned with the input-to-state practical stability (ISpS) of nonautonomous nonlinear infinite-dimensional systems. Sufficient conditions of ISpS are provided based on Lyapunov functions and a nonlinear inequality. We characterize ISpS in terms of uniform practical asymptotic gain property. We show that for a class of admissible inputs the existence of an ISpS-Lyapunov function implies the ISpS of a system in Banach spaces. These results are used to study the input-to-state practical stability of a certain class of nonautonomous semilinear evolution equations. Furthermore, we provide a small-gain theorem for nonautonomous nonlinear interconnected systems. An example is used to illustrate the application of the developed method.

关键词： input-to-state practical stability interconnected systems Lyapunov methods nonautonomous infinite-dimensional control systems small-gain theorem

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input-to-state practical stability analysis and controller design of switched affine systems: An observer-based approach

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ASIAN JOURNAL OF CONTROL 2023年第4期25卷 3045-3056页

作者： Xie, Hongzhen Zong, Guangdeng Yang, Dong Shi, Kaibo Qufu Normal Univ Sch Engn Rizhao 276826 Peoples R China Tiangong Univ Sch Control Sci & Engn Tianjin 300387 Peoples R China Chengdu Univ Sch Informat Sci & Engn Chengdu 610106 Peoples R China

This paper addresses the problems of the input-to-state practical stability (ISPS) analysis and output feedback controller design for switched affine systems (SASs) subject to external disturbances. First, a switched affine observer is developed to estimate unmeasurable states. Then by combining the sampled-data control approach, a less conservative mode-dependent dynamic event-triggered mechanism (ETM) is established. The proposed dynamic ETM cannot only avoid Zeno behavior but also reduce the network transmission burden effectively. Further, based on time-dependent Lyapunov-Krasovskii functional and state-dependent switching laws, a set of feasible ISPS conditions are presented in the LMI forms by means of singular value decomposition. The designed switching law depends upon the sampled-data information of the estimated state and gets rid of the chattering phenomenon. Finally, an application example of the DC-DC flyback converter is given to verify the efficacy of the proposed algorithm.

关键词： dynamic event-triggered control input-to-state practical stability sampled-data switching switched affine systems

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input-to-state practical stability of switched affine systems with time-varying delay: an event-triggered mechanism

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INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2022年第9期53卷 1983-1994页

作者： Xie, Hongzhen Zong, Guangdeng Bu, Wei Yang, Dong Shi, Kaibo Qufu Normal Univ Sch Engn Rizhao 276826 Shandong Peoples R China Jiangsu Normal Univ Inst Sci & Technol Xuzhou Peoples R China Jiangsu Normal Univ Key Lab Biotechnol Med Plants Jiangsu Prov Xuzhou Peoples R China Chengdu Univ Sch Informat Sci & Engn Chengdu Sichuan Peoples R China

This paper investigates the problem of the input-to-state practical stability for switched affine systems with time-varying delay and essentially bounded exogenous disturbance. The presence of affine terms makes switched systems have multiple switched equilibria and brings further difficulties in the stability analysis, control synthesis and avoiding Zeno behaviours compared with the non-affine switched systems. To overcome these difficulties, first, a convex combination approach is employed to acquire a set of attainable equilibria limited by the system matrix, the delay term matrix, and affine terms. Second, a mode-dependent event-triggered mechanism with sampled-data information is established, which not only ignores Zeno behaviour but also effectively reduces network resource waste. An input-to-state practical stability criterion is proposed for the closed-loop system by converting the event-triggered control system into a time-delay system and introducing a less conservative time-dependent Lyapunov-Krasovskii functional. Moreover, a sampled-data switching law and a set of executable controllers are also co-designed. Finally, an application example of the flyback DC-DC converter demonstrates the efficiency of the proposed result.

关键词： Event-triggered control input-to-state practical stability sampled-data switching switched affine systems

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input-to-state practical stability for Switched Systems with Delayed Feedback

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ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING 2014年第3期39卷 1995-2000页

作者： Li, Wen Cui, Baotong Lou, Ke Jiangnan Univ Minist Educ Key Lab Adv Proc Control Light Ind Wuxi 214122 Jiangsu Peoples R China Jiangnan Univ Sch IoT Engn Wuxi 214122 Jiangsu Peoples R China

In this paper, the concept of input-to-state practical stability (ISpS) is considered for switched systems with delayed feedback. The switched systems have uncertainty and sector-restricted nonlinearity. In the presence of feedback delay and actuator error, we utilize a common Lyapunov-Krasovskii functional based on the original undelayed dynamics to establish an ISpS framework for uncertain switched nonlinear systems. Two examples are presented to demonstrate the main results.

关键词： Switched systems input-to-state practical stability Sector nonlinearity Lyapunov-Krasovskii functional construction

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Networked min-max model predictive control of constrained nonlinear systems with delays and packet dropouts

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INTERNATIONAL JOURNAL OF CONTROL 2013年第4期86卷 610-624页

作者： Li, Huiping Shi, Yang Univ Victoria Dept Mech Engn Victoria BC V8W 2Y2 Canada

This article investigates a class of constrained nonlinear networked control systems (NCSs) subject to external disturbances, input and state constraints and network-induced constraints. From a practical perspective, the network-induced constraints considered include the time delays and packet dropouts on both the sensor-to-controller (S-C) channel and the controller-to-actuator (C-A) channel simultaneously. The minmax model predictive control method is proposed to design the control packets by incorporating the external disturbances into the optimisation problem. Moreover, the input-to-state practical stability of the resulting nonlinear NCS is established by constructing a novel Lyapunov function. Finally, the simulation results and the comparison studies are presented to demonstrate the effectiveness and improvement of the proposed method.

关键词： constrained systems nonlinear control networked control systems time delay packet dropout model predictive control input-to-state practical stability

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On Sontag's formula for the input-to-state practical stabilization of retarded control-affine systems

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SYSTEMS & CONTROL LETTERS 2013年第11期62卷 1018-1025页

作者： Pepe, P. Univ Aquila Dept Informat Engn Comp Sci & Math I-67100 Laquila Italy

In this paper input-to-state practically stabilizing control laws for retarded, control-affine, nonlinear systems with actuator disturbance are investigated. The developed methodology is based on Artstein's theory of control Lyapunov functions and related Sontag's formula, extended to retarded systems. If the actuator disturbance is bounded, then the controller yields the solution of the closed-loop system to achieve an arbitrarily fixed neighborhood of the origin, by increasing a control tuning parameter. The considered systems can present an arbitrary number of discrete as well as distributed time-delays, of any size, as long as they are constant and, in general, known. (C) 2013 Elsevier B.V. All rights reserved.

关键词： input-to-state practical stability Control Lyapunov-Krasovskii functionals Artstein-Sontag universal formula Sontag ISS redesign method Retarded systems Time delay

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Adaptive MPC for constrained systems with parameter uncertainty and additive disturbance

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IET CONTROL THEORY AND APPLICATIONS 2019年第15期13卷 2500-2506页

作者： Zhang, Sixing Dai, Li Xia, Yuanqing Beijing Inst Technol Sch Automat Beijing 100081 Peoples R China

In this study, the authors propose an adaptive model predictive control (MPC) algorithm for constrained linear systems in state space subject to uncertain model parameters and disturbances. An iterative set membership identification algorithm is first presented to update the uncertain parameter set at each time step. Based on the shrunken uncertain parameter set, an MPC controller is then designed to robustly stabilise the uncertain systems subject to state and input constraints. The algorithm can efficiently reduce the size of the uncertain parameter set in min-max MPC setting, and therefore improve the control performance. The algorithm is proved to ensure constraint satisfaction, recursive feasibility and input-to-state practical stability of the closed-loop system even in the presence of system uncertainties. A numerical example and a brief comparison with traditional min-max MPC are provided to demonstrate the efficiency of the proposed algorithm.

关键词： adaptive control uncertain systems robust control closed loop systems linear systems nonlinear control systems predictive control minimax techniques traditional min-max MPC system uncertainties closed-loop system input-to-state practical stability control performance min-max MPC setting input constraints uncertain systems MPC controller shrunken uncertain parameter iterative set membership identification algorithm disturbances uncertain model parameters state space subject constrained linear systems adaptive model predictive control algorithm additive disturbance parameter uncertainty constrained systems adaptive MPC

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Robust economic model predictive control of nonlinear networked control systems with communication delays

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INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING 2020年第5期34卷 614-637页

作者： Mao, Yawen Liu, Su Liu, Jinfeng Jiangnan Univ Sch Sci Wuxi Jiangsu Peoples R China Univ Alberta Dept Chem & Mat Engn Edmonton AB T6G 2V4 Canada

In this work, we consider economic model predictive control of nonlinear networked control systems subject to external disturbances and communication delays in both sensor-to-controller and controller-to-actuator channels. The problem is addressed in the framework of the min-max model predictive control. First, a delay compensation strategy is proposed to minimize the impact of communication delays on the control performance. In the compensation strategy, once the receiver at the controller node receives a new state measurement, the controller generates a control sequence and sends the sequence to the actuator to compensate for delayed control inputs. Subsequently, the presence of disturbance is explicitly considered for robustness and the semi-feedback min-max optimization algorithm is used to design the control law based on the estimate of the current state reconstructed by the estimator. Furthermore, the input-to-state practical stability of the proposed approach is established by constructing a modified Lyapunov function. Simulation results of a numerical example and a chemical process example demonstrate the applicability and effectiveness of our approach.

关键词： economic model predictive control input-to-state practical stability networked control systems transmission delays

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Vision-based neural predictive tracking control for multi-manipulator systems with parametric uncertainty

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ISA TRANSACTIONS 2021年 110卷 247-257页

作者： Wu, Jinhui Jin, Zhehao Liu, Andong Yu, Li Zhejiang Univ Technol Coll Informat Engn Hangzhou Peoples R China

To deal with the coordination problem for multi-manipulator trajectory tracking systems with parametric uncertainties, this paper proposes a two-layer control scheme incorporating a model predictive strategy and an extended state observer. In the kinematic layer, the visual information is implemented and a visual servoing error model is derived by the image-based visual servoing strategy. A recurrent neural network model predictive control approach is proposed to obtain velocities which are regarded as the reference signals for the dynamic layer. For dynamics, a linear time-varying dynamic model of the multi-manipulator system coupled with the object is established, where the parametric uncertainty is recognized as an added disturbance. An extended state observer is sequentially designed to estimate the disturbance by using pole placement method. The input-to-state practical stability of the system is further analyzed with a bounded disturbance. Finally, simulations and comparison are given to verify the effectiveness and robustness of the proposed algorithm. (C) 2020 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Image-based visual servoing Parametric uncertainty Recurrent neural network Model predictive control input-to-state practical stability Extended state observer

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