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Prescribed-time leader-following consensus of linear multi-agent systems by bounded linear time-varying protocols

Science China(Information Sciences) 2024年第1期67卷 140-153页

作者： Kai ZHANG Bin ZHOU Xuefei YANG Guangren DUAN Center for Control Theory and Guidance Technology Harbin Institute of Technology

This paper considers the prescribed-time leader-following consensus problem of input-constrained linear multi-agent systems under generally directed communication topology in two cases:the Laplacian matrix related to the entire communication topology between agents is either known or *** particular,the consensus problem for the former case is solved by a novel bounded linear time-varying(LTV) protocol,where the feedback gain is formulated by the parametric Lyapunov equation and the knowledge of the Laplacian ***,by utilizing a distributed observer,a fully bounded LTV protocol is proposed for the latter *** should be noted that,compared with the existing results,the system under consideration is more general,the designed protocols are linear,and the consensus problem is accomplished even in a fully distributed ***,the effectiveness of the proposed approach is verified by a numerical example.

关键词： leader-following consensus time-vary feedback prescribed-time control fully distributed consensus

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Prescribed time control based on the periodic delayed sliding mode surface without singularities

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Science China(Information Sciences) 2024年第7期67卷 256-270页

作者： Bin ZHOU Yi DING Kang-Kang ZHANG Guang-Ren DUAN Center for Control Theory and Guidance Technology Harbin Institute of Technology

In this paper, nonsingular prescribed-time control is studied based on periodic delayed sliding mode surfaces. Different from the existing sliding mode control, where either singularity problems may appear or the convergence time depends on the initial state, the proposed sliding mode control approaches can achieve prescribed-time convergence without singularity. The proposed nonsingular sliding mode control approaches can be applied to both second-order and high-order nonlinear systems with prescribed-time convergence. As applications of the proposed sliding mode control approaches, the control of hypersonic vehicle systems is revisited. Numerical simulations on the nonlinear model of the hypersonic vehicle system show the effectiveness of the proposed methods.

关键词： prescribed-time control smooth periodic delayed feedback sliding mode control high-order nonlinear systems hypersonic vehicle systems

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Fully Actuated System Approach for Linear Systems control:A Frequency-Domain Solution

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Journal of Systems Science & Complexity 2022年第6期35卷 2046-2061页

作者： DUAN Guang-Ren ZHOU Bin The Center for Control Science and Technology Southern University of Science and TechnologyShenzhen 518055China The Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

This note studies fully actuated linear systems in the frequency domain in terms of polynomial matrix description(PMD).For a controllable first-order linear state-space system model,by using the right coprime factorization of its transfer function matrix,under the condition that the denominator matrix in the right coprime factorization is column reduced,it is equivalently transformed into a fully actuated PMD model,whose time-domain expression is just a high-order fully actuated(HOFA)system *** method is a supplement to the previous one in the time-domain,and reveals a connection between the controllability of the first-order linear state-space system model and the fullactuation of its PMD *** continuous-time and discrete-time linear systems are *** numerical examples are worked out to illustrate the effectiveness of the proposed approaches.

关键词： Column reduced factorization first-order linear state-space systems high-order fully actuated systems polynomial matrix description right coprime

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Fully Actuated System Approach for 6DOF Spacecraft control Based on Extended State Observer

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Journal of Systems Science & Complexity 2022年第2期35卷 604-622页

作者： ZHAO Qin DUAN Guang-Ren Center for Control Science and Technology Southern University of Science and TechnologyShenzhen 518055China Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

This paper deals with the problem of position and attitude tracking control for a rigid spacecraft.A fully actuated system(FAS)model for the six degree-of-freedom(6DOF)spacecraft motion is derived first from the state-space model by variable *** the uncertainties from external disturbance,unknown motion information,and uncertain inertia properties,an extended state observer(ESO)is designed to estimate the total ***,a tracking controller based on FAS approach is designed,and this makes the closed-loop system a constant linear one with an arbitrarily assignable *** solution to the parameter matrices of the observer and controller is given *** is proved via the Lyapunov stability theory that the observer errors and tracking errors both converge into the neighborhood of the ***,numerical simulation demonstrates the effectiveness of the proposed controller.

关键词： Constant linear closed-loop system extended state observer fully actuated system approach relative position and attitude control

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Stabilization via Fully Actuated System Approach:A Case Study

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Journal of Systems Science & Complexity 2022年第3期35卷 731-747页

作者： DUAN Guang-Ren Center for Control Science and Technology Southern University of Science and TechnologyShenzhen 518055China Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

In this note,a benchmark example system which is not stabilizable by a smooth state feedback controller is considered with the fully actuated system(FAS)*** is shown that a smooth controller exists which drives the trajectories starting from a large domain in the initial value space to the origin *** a result brings about a generalization of Lyapunov asymptotical stability,which is termed as global exponential *** region of attraction is allowed to be an unbounded open set of the initial values with closure containing the *** sub-stability result may be viewed to be superior to some local stability results in the Lyapunov sense because the region of attraction is much larger than any finite ball containing the origin and meanwhile the feasible trajectories are always driven to the origin *** on this sub-stabilization result,globally asymptotically stabilizing controllers for the system can be provided in two general ways,one is through combination with existing globally stabilizing controllers,and the other is by using a pre-controller to first move an initial point which is not within the region of attraction into the region of attraction.

关键词： Feedback stabilization fully actuated system approach nonlinear systems region of attraction singularity sets

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Brockett’s First Example: An FAS Approach Treatment

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Journal of Systems Science & Complexity 2022年第2期35卷 441-456页

In this note,the well-known Brockett’s first example system is treated with the fully actuated system(FAS)***,it is shown that the system can be exponentially substabilized by a smooth controller in the sense that,except those starting from initial values on the z0-axis of the initial value space,all trajectories of the designed system as well as the control signals decay to zero ***,global stabilization is realized through a way of enabling the trajectories starting from initial values on the z0-axis also to go to the *** idea is to firstly move an initial point on the z0-axis away from the axis using a pre-controller,and then to take over by the designed exponentially sub-stabilizing controller.

关键词： Exponential sub-stabilization feedback stabilization fully actuated system approach region of attraction singularity sets

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On the Role of Zeros in the Pole Assignment of Scalar High-Order Fully Actuated Linear Systems

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Journal of Systems Science & Complexity 2022年第2期35卷 535-542页

作者： ZHOU Bin DUAN Guang-Ren Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China Center for Control Science and Technology Southern University of Science and TechnologyShenzhen 518055China

It is well known that for a linear system in state space form,controllability is equivalent to arbitrary pole assignment by state *** brief points out that for a scalar high-order fully actuated linear system,the pole assignment problem is solvable if and only if the desired pole set of the closed-loop system should not include the zero set of the open-loop system if the implementation issue of the controller is taken into account,that is,controllability cannot guarantee arbitrary pole assignment by state feedback.

关键词： High-order fully actuated systems pole assignment state feedback zeros

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Practical Prescribed-Time Tracking control of the Air-Bearing Testbed With Output Constraints

Practical Prescribed-Time Tracking Control of the Air-Bearin...

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18th IEEE International Conference on Advanced Motion control, AMC 2024

作者： Jiang, Di Jiang, Huaiyuan Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China

ISBN: (纸本)9798350342819

This paper studies the practical prescribed-time tracking control problem for the air-bearing testbed system with output constraints. By constructing the practical prescribed-time function and time-varying barrier Lyapunov functions, the time-varying controller is designed. It is proved that the proposed controller can make tracking errors converge to an arbitrarily small neighbourhood of zero in a prescribed time under the disturbance, and the control signals are bounded. Finally, the effectiveness of the proposed method is validated by a numerical simulation of the air-bearing testbed. © 2024 IEEE.

关键词： controllers

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Hyperbolic Sine Function-Based Full-State Feedback Attitude Tracking control for Rigid Spacecraft

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3412-3424页

作者： Dong, Rui-Qi Wu, Ai-Guo Li, Bin Duan, Guang-Ren Department of Automation Shenzhen518055 China Sichuan University School of Aeronautics and Astronautics Chengdu610207 China Southern University of Science and Technology Center for Control Science and Technology Shenzhen518055 China Harbin Institute of Technology Center for Control Theory and Guidance Technology Harbin150001 China

The attitude tracking control with unwinding-free performance for rigid spacecraft is studied in this article. A full-state feedback control law based on a hyperbolic sine function is developed such that the resulted closed-loop system can achieve two stable equilibria. By Lyapunov stability theory and Barbalat's Lemma, it is proven that the obtained closed-loop system is almost globally asymptotically stable, and achieves unwinding-free performance. Further, by constructing a strict Lyapunov function, it is demonstrated that the two stable equilibria are exponentially stable. Moreover, subsets of attraction regions corresponding to each stable equilibrium are characterized. The simulation results illustrate that the proposed attitude control scheme can effectively avoid the unwinding problem during attitude tracking. © 2025 IEEE.

关键词： Lyapunov functions

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Game-Based control of Systems under Network Constraints via a High-Order Fully Actuated Predictive control 9

Game-Based Control of Systems under Network Constraints via ...

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9th International Conference on control Science and Systems Engineering, ICCSSE 2023

作者： Zhang, Da-Wei Liu, Guo-Ping Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9798350339055

This paper considers a game-based control problem of networked control systems (NCSs) under network constraints that contain the network-induced delays and the data dropouts in the forward and feedback channels. A high-order fully actuated (HOFA) system model is used to establish the dynamics of NCSs. In the view of game theories, a cost function is designed for each player to construct an optimal scheme for the implementation of Nash equilibrium. A HOFA predictive control approach is given to address this problem. In this approach, a Diophantine equation is utilized to develop an incremental prediction model in a HOFA form, such that the multi-step ahead output predictions are completed to obtain the optimal scheme for the balance of inconsistent targets and the compensation of network constraints when reaching Nash equilibrium. Furthermore, a simple criterion is presented to discuss the stability and output convergence of closed-loop systems. The capability of HOFA predictive control approach is demonstrated via an experiment of tracking control of air-bearing spacecraft (ABS) simulator. © 2023 IEEE.

关键词： Networked control systems

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