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Sampled-data cooperative semi-global robust practical output regulation for nonlinear multi-agent systems with an uncertain leader

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2024年第15期34卷 10765-10782页

作者： Liu, Wei Zeng, Kaiji Liu, Yu South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou Peoples R China Guangzhou Inst Modern Ind Technol Res & Dev Ctr Precis Elect Mfg Technol Guangzhou Peoples R China

This article explores the problem of sampled-data cooperative robust practical output regulation for nonlinear multi-agent systems whose leader system is unknown. In this study, the nonlinearities of the follower systems are not constrained by the linear growth condition. Based on the robust control technology and the adaptive control technology, a distributed output-based sampled-data control protocol is developed to deal with the uncertainty of the exosystem which can belong to any large known compact set. We first perform the coordinate transformation of closed-loop system to obtain the so-called augmented system, and then perform the stability analysis for this system. As a result, it is proven that the steady-state tracking errors are in any small given neighborhood of the origin. Finally, the performance of the proposed controller is validated by a numerical example.

关键词： cooperative control internal model nonlinear multi-agent systems robust output regulation sampled-data control

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Optimal reduced-order interval observer design for uncertain continuous-time linear systems

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2023年第2期33卷 1043-1064页

作者： Liu, Longwen Xie, Wei Zhang, Langwen South China Univ Technol Coll Automat Sci & Technol Guangzhou Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou Peoples R China South China Univ Technol Unmanned Aerial Vehicle Syst Engn Technol Res Ctr Guangzhou Peoples R China Minist Educ Key Lab Syst Control & Informat Proc Shanghai Peoples R China

This article investigates the reduced-order interval observer (R-IO) design technique for continuous-time linear systems with unknown external disturbances and measurement noises. First, we propose a coupled R-IO structure with more design degrees of freedom, and it can be directly applied not only to solve the difficulty of the error system cooperativity construction but to relax the constraint on the sensor measurement noises. Second, the R-IO existence condition is derived as a set of matrix equations (MEs), and a complete solution, explicitly showing the available design parameters, to such an R-IO is further obtained by solving the MEs. Third, using the solution, an integrated optimization indicator of the R-IO performance is built as the valid selection mechanism of these parameters. Finally, the efficiency of the obtained results is illustrated through a numerical example and a practical example.

关键词： interval estimation optimization function parametric design reduced-order observer

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Online Path Planning of Messenger UAV in Air-Ground Coordination Over Urban Areas

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IEEE Transactions on Vehicular Technology 2024年第5期74卷 7135-7151页

作者： Wang, Yuyang Xin, Bin Ding, Yulong He, Bin Chen, Jie Beijing Institute of Technology School of Automation Beijing100081 China Ministry of Education Frontiers Science Center for Intelligent Autonomous Systems Shanghai China National Key Lab of Autonomous Intelligent Unmanned Systems Beijing100081 China Tongji University Department of Control Science and Engineering Shanghai200092 China

Fast-moving unmanned aerial vehicle (UAV), serving as a messenger to visit ground vehicles (GVs) for information relays, can be applied to complex tasks in urban environments, such as air-ground cooperative urban rescue and UAV-assisted data collection. Existing work ensures that the UAV visits all GVs by assuming that it knows the motion parameters of GVs (e.g., velocities or paths) at any given time. However, in practice, GVs may not move with anticipated velocities due to motion uncertainties. This UAV path planning problem can be formulated as a Dynamic Dubins Traveling Salesman Problem with Uncertain Neighborhoods (DDTSPUN). The problem involves variables with complex interdependencies (e.g., the visiting sequence of the UAV to GVs and the access location of the UAV to GVs) and requires solving a sequence of uncertain encounter problems. To address the uncertainty in GV motion, we define robust neighborhoods and corridors and prove that the UAV can revisit GVs reliably by visiting these areas. By flying the UAV through robust areas, the DDTSPUN can be transformed into a deterministic optimization problem, namely Revisit-time-constrained Dubins Traveling Salesman Problem with Neighborhood (RDTSPN), which provides a simplified model and compresses the solution space. To address the RDTSPN, we propose an online heuristic path planning algorithm. It incorporates a gradient-based method for visiting robust neighborhoods and a sampling-based search strategy along robust corridors to obtain the Dubins paths of the UAV that achieve robust visit for each GV. Finally, the computational experiments, including representative instances, random instances with different scales, and an instance generated using real-world data, demonstrate its advantages over other state-of-the-art algorithms in obtaining the shortest path that satisfies UAV curvature constraints while ensuring robust access to all GVs. © 1967-2012 IEEE.

关键词： Traveling salesman problem

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Multiple leaders formation tracking with switching topology and aperiodic sampled data under intermittent control scheme

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2023年第3期33卷 2375-2391页

作者： Liu, Xiongding Deng, Feiqi Zhao, Xueyan Wei, Wu South China Univ Technol Sch Automation Sci & Engn Guangzhou 510640 Peoples R China South China Univ Technol Unmanned Aerial Vehicle Syst Engn Technol Res Ctr Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou Peoples R China

This article studies the problem of second-order formation tracking with multiple leaders under intermittent control scheme in stochastic multi-agent networked systems. Based on the aperiodic sampled data, the formation tracking control protocol is proposed by considering switching topology and the time-varying transmission delay of information interaction between each agent. Using the algebraic graph theory, stochastic systems theory, Lyapunov theory, and Halanay inequality, the sufficient conditions of mean square stability for formation tracking with multiple leaders are obtained. To further alleviate the computation resources of the controller, the intermittent control strategy is proposed. Meanwhile, a novel stability analysis method for intermittent control is introduced based on an auxiliary system and comparison principle. Furthermore, the lower bound of the duty cycle for a certain control period is obtained and the desired formation mode is also reached under the designed intermittent control scheme. Finally, numerical examples are given to verify the correctness and effectiveness of the proposed methods.

关键词： aperiodic sampled data formation tracking with multiple leaders intermittent control stochastic stability analysis switching topology

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Type-z0g3 controller of Output Tracking for Fractional Power System 3

Type-z0g3 Controller of Output Tracking for Fractional Power...

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2017 IEEE 第3届信息技术与机电一体化工程国际学术会议(ITOEC 2017)

作者： Yunong Zhang Fangzheng Lai Penghao He Jinjin Wang Dechao Chen School of Information Science and Technology Sun Yat-sen University(SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

Because most systems are nonlinear in practical applications,output tracking for nonlinear system is of great interest to engineers and *** a specific class of nonlinear system,fractional po

ISBN: (纸本)9781509053643;9781509053636

Because most systems are nonlinear in practical applications,output tracking for nonlinear system is of great interest to engineers and *** a specific class of nonlinear system,fractional po

关键词： Trajectory Nonlinear systems Simulation Power system stability Sun

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From Davidenko Method to Zhang Dynamics for Nonlinear Equation systems Solving

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IEEE TRANSACTIONS ON systems MAN CYBERNETICS-systems 2017年第11期47卷 2817-2830页

作者： Zhang, Yunong Zhang, Yinyan Chen, Dechao Xiao, Zhengli Yan, Xiaogang SYSU Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan 528300 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China

The solving of nonlinear equation systems (e.g., complex transcendental dispersion equation systems in waveguide systems) is a fundamental topic in science and engineering. Davidenko method has been used by electromagnetism researchers to solve time-invariant nonlinear equation systems (e.g., the aforementioned transcendental dispersion equation systems). Meanwhile, Zhang dynamics (ZD), which is a special class of neural dynamics, has been substantiated as an effective and accurate method for solving nonlinear equation systems, particularly time-varying nonlinear equation systems. In this paper, Davidenko method is compared with ZD in terms of efficiency and accuracy in solving time-invariant and time-varying nonlinear equation systems. Results reveal that ZD is a more competent approach than Davidenko method. Moreover, discrete-time ZD models, corresponding block diagrams, and circuit schematics are presented to facilitate the convenient implementation of ZD by researchers and engineers for solving time-invariant and time-varying nonlinear equation systems online. The theoretical analysis and results on Davidenko method, ZD, and discrete-time ZD models are also discussed in relation to solving time-varying nonlinear equation systems.

关键词： Comparison Davidenko method time-invariant nonlinear equation systems time-varying nonlinear equation systems Zhang dynamics (ZD)

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Proposing,QP-Unification and Verification of DLSM Based MKE-IIWT Scheme for Redundant Robot Manipulators 3

Proposing,QP-Unification and Verification of DLSM Based MKE-...

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2017 IEEE 第3届信息技术与机电一体化工程国际学术会议(ITOEC 2017)

作者： Yunong Zhang Min Yang Dechao Chen Weibing Li Dongsheng Guo Xiaogang Yan School of Information Science and Technology Sun Yat-sen University(SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

To remedy the problem of joint-variable oscillation and instability as well as the non-zero final joint-velocity phenomenon arising in the conventional inertia-inverse weighted torque(IIWT) minimizati

ISBN: (纸本)9781509053643;9781509053636

关键词： Manipulators Torque Minimization Acceleration Kinetic energy Performance analysis

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Fixed Time Disturbance Observer Based Sliding Mode control for a Miniature Unmanned Helicopter Hover Operations in Presence of External Disturbances

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IEEE ACCESS 2020年 8卷 73173-73181页

作者： Ullah, Ihsan Pei, Hai-Long South China Univ Technol Sch Automat Sci & Engn Guangzhou 510640 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China Unmanned Syst Engn Ctr Guangdong Prov Guangzhou 510640 Peoples R China

This paper presents a novel fixed time sliding mode disturbance observer (FTSMDO) based second-order fixed time sliding mode control (FTSMC) for small scale unmanned helicopter to do hover operations in the presence of external disturbances. Sliding mode control is insensitive to matched uncertainties but sensitive to mismatched uncertainties. The novel FTSMDO exactly estimates the total mismatched uncertainties effecting the sliding mode control performance. To counter the mismatched uncertainties a new sliding surface augmented by the total mismatched disturbance approximated by the FTSMDO is defined. The second-order FTSMC forces the system states to reach the sliding surface in fixed time and then on the sliding surface the system states exponentially converge to the desired equilibrium point. The control performance is compared with the disturbance observer based sliding mode controller (DOB-SMC) and shows superior performance.

关键词： Helicopters Rotors Disturbance observers Sliding mode control Uncertainty Barium Convergence Unmanned helicopter external disturbances fixed time Sliding mode control fixed time disturbance observer mismatched uncertainty

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Jerk-level synchronous repetitive motion scheme with gradient-type and zeroing-type dynamics algorithms applied to dual-arm redundant robot system control

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INTERNATIONAL JOURNAL OF systems SCIENCE 2017年第13期48卷 2713-2727页

作者： Chen, Dechao Zhang, Yunong Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou Guangdong Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan Peoples R China

Dual-arm redundant robot systems are usually required to handle primary tasks, repetitively and synchronously in practical applications. In this paper, a jerk-level synchronous repetitive motion scheme is proposed to remedy the joint-angle drift phenomenon and achieve the synchronous control of a dual-arm redundant robot system. The proposed scheme is novelly resolved at jerk level, which makes the joint variables, i.e. joint angles, joint velocities and joint accelerations, smooth and bounded. In addition, two types of dynamics algorithms, i.e. gradient-type (G-type) and zeroing-type (Z-type) dynamics algorithms, for the design of repetitive motion variable vectors, are presented in detail with the corresponding circuit schematics. Subsequently, the proposed scheme is reformulated as two dynamical quadratic programs (DQPs) and further integrated into a unified DQP (UDQP) for the synchronous control of a dual-arm robot system. The optimal solution of the UDQP is found by the piecewise-linear projection equation neural network. Moreover, simulations and comparisons based on a six-degrees-of-freedom planar dual-arm redundant robot system substantiate the operation effectiveness and tracking accuracy of the robot system with the proposed scheme for repetitive motion and synchronous control.

关键词： Dual-arm redundant robot system dynamics algorithms jerk level joint-angle drift synchronous repetitive motion

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ZG controllers Handling VIP System with Nonzero Link Mass,Large Friction Coefficient and Different Initial Pendulum Angle 3

ZG Controllers Handling VIP System with Nonzero Link Mass,La...

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2017 IEEE 第3届信息技术与机电一体化工程国际学术会议(ITOEC 2017)

作者： Yunong Zhang Jinjin Wang Binbin Qiu Deyang Zhang Yang Shi School of Information Science and Technology Sun Yat-sen University(SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

The vehicular inverted pendulum(VIP) system is one of the most important issues in dynamics and control theory,and has been widely used as a benchmark for testing control ***,the tracki

ISBN: (纸本)9781509053643;9781509053636

The vehicular inverted pendulum(VIP) system is one of the most important issues in dynamics and control theory,and has been widely used as a benchmark for testing control ***,the tracki

关键词： Trajectory Vehicle dynamics Mathematical model Friction Electronic mail Heuristic algorithms

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