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Non-Fragile Consensus Strategy for Variable Fractional-Order Multi-Agent systems Based on Disturbance Observer

IEEE Transactions on Control of Network systems 2025年

作者： Chen, Liping Liu, Chuang Lopes, Antonio M. Zhang, Zhiqiang Chen, YangQuan Hefei University of Technology School of Electrical Engineering and Automation Hefei230009 China University of Porto LAETA INEGI Faculty of Engineering Porto4200-465 Portugal University of California Lab of Mechatronics Embedded Systems and Automation Lab MercedCA95343 United States

This paper proposes non-fragile leader-follower consensus control for variable fractional-order multi-agent systems under disturbance generated by an exogenous system. The developed technique is directly applicable to fixed fractional-order and to integer-order multi-agent systems. Firstly, a non-fragile variable fractional-order disturbance observer is introduced, which is able to tolerate a certain degree of parameter uncertainty. Secondly, by employing the disturbance observer, a novel robust non-fragile consensus control scheme is developed, which not only ensures asymptotic stability of the consensus error system, but also accommodates parameter uncertainty in the physical controller's implementation. Thirdly, new sufficient conditions for the desired consensus protocol are derived using linear matrix inequalities (LMIs), as well as graph and Lyapunov theory. Finally, simulation examples are presented to illustrate the validity of the theoretical results. The proposed order-dependent LMI condition is less conservative than existing order-independent alternatives. © 2014 IEEE.

关键词： Multi agent systems

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Decentralized Model-Free Prescribed Performance Control for Interconnected systems

Decentralized Model-Free Prescribed Performance Control for ...

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Chinese Control and Decision Conference, CCDC

作者： Jinxi Zhang Tianyou Chai Yangquan Chen State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China Mechatronics Embedded Systems and Automation Lab University of California Merced Merced USA

This paper is dealt with the problem of decentralized prescribed performance control (PPC) for the interconnected systems composed of feedback linearizable systems. Without the restrictive conditions in the related studies, the interconnections need merely to be continuous in this paper. Moreover, this study is focused on the model-free control design, i.e., no prior knowledge of the system model is used for the controller, except for the most fundamentally structural information. To solve the problem, a novel decentralized model-free PPC approach is developed. The skilful combination of the orientation function and the barrier function yields a model-free PPC, without approximation, identification, adaptation, etc. By adopting the dialectic by contradiction to establish the control performance, instead of the Lyapunov stability theory, it is revealed that the proposed control is inherently robust against the interconnections. The simulation results on the inverted double pendulums demonstrate the effectiveness of our approach.

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A Fractional-Order Reset ADRC Scheme for PMSM Speed Servo System

A Fractional-Order Reset ADRC Scheme for PMSM Speed Servo Sy...

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IEEE/ASME International Conference on Mechtronic and embedded systems and Applications, MESA

作者： Shaohua Wang He Gan Ying Luo Xiaohong Wang Yangquan Chen School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan China School of Automation Science and Engineering South China University and Technology Guangzhou China Department of Mechanical Engineering School of Engineering The Mechatronics Embedded Systems and Automation Lab University of California Merced Merced USA

ISBN: (数字)9798331516239

ISBN: (纸本)9798331516246

This paper presents a fractional-order reset active disturbance rejection control (FO-RADRC) strategy for the permanent magnet synchronous motor (PMSM) speed servo system. This approach integrates an extended state observer (ESO) with a fractional-order reset controller (FORC) to enhance system performance. The ESO accurately estimates and compensates for total disturbances, and the FORC realizes tracking performance improvement. Notably, a fractional-order full-reset Clegg integrator with a reset band (FOFCI δ ) is proposed to construct the FORC, thereby improving the performance of the traditional fractional-order Clegg integrator (FOCI). With the proposed FORADRC, the limit cycles typically observed in traditional reset control can be eliminated with disturbances. Simulation results illustrate that the proposed method can achieve rapid tracking response, significantly decreased overshoot, and superior disturbance rejection capability in PMSM speed control. Moreover, the performance can be optimized by tuning the fractional order and the reset band. Consequently, the proposed approach offers a promising solution to improve the performance of PMSM servo systems.

关键词： Robust control System performance Simulation Velocity control Limit-cycles Synchronous motors Permanent magnet motors Servomotors Tuning Oscillators

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A Decoupled ADRC Based on Bode’s Integral for PMSM Current Tracking Without Overshoot

A Decoupled ADRC Based on Bode’s Integral for PMSM Current ...

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IEEE/ASME International Conference on Mechtronic and embedded systems and Applications, MESA

作者： He Gan Shaohua Wang Ying Luo Xiaohong Wang Yangquan Chen School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan China School of Automation Science and Engineering South China University and Technology Guangzhou China Department of Mechanical Engineering School of Engineering The Mechatronics Embedded Systems and Automation Lab University of California Merced Merced USA

ISBN: (数字)9798331516239

ISBN: (纸本)9798331516246

Two critical objectives for permanent magnet synchronous motor (PMSM) current regulating are achieving quick tracking response without overshoot and strong anti-disturbance capacity. However, conventional controller design methods are difficult to meet these requirements due to digital delays and system noise. To address these challenges, a decoupled active disturbance rejection control (D-ADRC) is proposed with a generalized cascade extended state observer (GCESO) and a Bode’s integral formula-based feedback controller for the PMSM current servo. The GCESO compensates for lumped disturbances, while a decoupled feedback controller ensures a rapid tracking response without any overshoot. The design methodology for this proposed controller is presented, and the tracking performance and anti-disturbance robustness are illustrated by a simulation comparison between existing conventional linear active disturbance rejection control and the proposed method.

关键词： Robust control mechatronics embedded systems Design methodology Noise Observers Permanent magnet motors Robustness Adaptive control Servomotors

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Fractional-order DOB-sliding mode control for a class of noncommensurate fractional-order systems with mismatched disturbances

Fractional-order DOB-sliding mode control for a class of non...

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作者： Wang, Jing Shao, Changfeng Chen, Xiaolu Chen, YangQuan College of Information Science and Technology Beijing University of Chemical Technology Beijing China Mechatronics Embedded Systems and Automation Lab School of Engineering University of California MercedCA United States

This article proposes a novel fractional-order sliding mode control based on the disturbance observer for a class of noncommensurate fractional-order systems with mismatched disturbances. Firstly, the noncommensurate fractional-order system is decomposed into several subsystems with commensurate order. Then the fractional-order disturbance observers are designed independently to estimate the mismatched disturbances for each subsystems. Based on the designed disturbance observers, a uniform fractional-order sliding mode control is proposed. The proposed method can deal with the mismatched disturbances and has better control performance. The simulations on single-link flexible manipulator system demonstrate the effectiveness of the proposed method. © 2019 John Wiley & Sons, Ltd.

关键词： Sliding mode control

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Preview Control Based on RIOTS MPC and H ∞ for A Thermal Hardware in the Loop System

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IFAC-PapersOnLine 2021年第20期54卷 729-734页

作者： Sina Dehghan Jairo Viola YangQuan Chen Mechatronics Embedded Systems Automation Lab (MESA Lab) Dept. of Mechanical Engineering Univ. of California Merced USA

This paper presents the implementation of a Model Predictive Control (MPC) algorithm with preview for temperature profile tracking. The MPC control with preview is implemented using RIOTS optimal problem control solver. The controller is contrasted against an H ∞ based preview controller. Obtained results shows that the MPC control with preview improves the system time response and control action compared to the classic preview control approach.

关键词： Preview control Model Predictive Control RIOTS MPC

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On transitioning from PID to ADRC in thermal power plants

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Control Theory and Technology 2021年第1期19卷 3-18页

作者： Zhenlong Wu Zhiqiang Gao Donghai Li YangQuan Chen Yanhong Liu School of Electrical Engineering Zhengzhou UniversityZhengzhou 450001HenanChina Department of Electrical and Computer Engineering Cleveland State UniversityClevelandOH 44115USA State Key Lab of Power Systems Department of Energy and Power EngineeringTsinghua UniversityBeijing 100084China Mechatronics Embedded Systems and Automation(MESA)LabDepartment of Mechanical EngineeringSchool of EngineeringUniversity of CaliforniaMercedCA 95343USA

This paper focuscs on the recent progress in the adoption of active disturbance rejection control(ADRC)in thermal pro-cesses as a viable alternative to proportional-_integral-derivative(PID),especially in coa-fired power *** profound interpretation of this paradigm shift,with backward compatibility,is discussed in detail.A few fundamental issues associated with ADRC's applications in thermal processes are discussed,such as implementation,tuning,and the structural *** and case studies are presented,encompassing coal-fired power plants,gas turbines and nuclear power plants,as well as highlighting results of field *** discussed are future research opportunities brought by ADRC's entry as the baseline control technology in thermal processes.

关键词： Active disturbance rejection control(ADRC) Proportional-integral-derivative(PID) Thermal processes Coal-fired power plant Field applications

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Parallel Self Optimizing Control Framework for Digital Twin Enabled Smart Control Engineering

Parallel Self Optimizing Control Framework for Digital Twin ...

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Digital Twins and Parallel Intelligence (DTPI), IEEE International Conference on

作者： Jairo Viola YangQuan Chen Mechatronics Embedded Systems and Automation Lab University of California Merced Merced CA USA

This paper presents a parallel Self Optimizing Control (SOC) framework that combines parallel intelligence, Digital Twin, and derivative-free optimization to enable smart capabilities in classic process control. The parallel SOC framework supports the interaction between the physical system and its Digital Twin via Simultaneous Perturbation Stochastic Approximation (SPSA) derivative-free optimization algorithm. The framework is tested using the Digital Twin of a thermoelectric heating system. Obtained results show that using parallel intelligence with Digital Twin and SPSA optimization method, the SOC can improve the system performance by introducing a developmental behavior on the classic process control system.

关键词： Heating systems Control engineering Digital twin Perturbation methods System performance Conferences Process control

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A metric for evaluating 3D reconstruction and mapping performance with no ground truthing

arXiv

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arXiv 2021年

作者： Zhang, Guoxiang Chen, YangQuan Mechatronics Embedded Systems and Automation Lab. University of California Merced Merced United States

It is not easy when evaluating 3D mapping performance because existing metrics require ground truth data that can only be collected with special instruments. In this paper, we propose a metric, dense map posterior (DMP), for this evaluation. It can work without any ground truth data. Instead, it calculates a comparable value, reflecting a map posterior probability, from dense point cloud observations. In our experiments, the proposed DMP is benchmarked against ground truth-based metrics. Results show that DMP can provide a similar evaluation capability. The proposed metric makes evaluating different methods more flexible and opens many new possibilities, such as self-supervised methods and more available datasets. Copyright © 2021, The Authors. All rights reserved.

关键词： Benchmarking

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Safety-Optimized Fast Charging of Lithium-ion Battery Based on Distributional SAC-Conservative Augmented Lagrangian SDRL Algorithm

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IEEE Transactions on Vehicular Technology 2025年

作者： Chen, Liping Tao, Yuxin Lopes, Antonio M. Chow, Mo-Yuen Chen, YangQuan Hefei University of Technology School of Electrical Engineering and Automation Hefei230009 China University of Porto LAETA/INEGI Faculty of Engineering Rua Dr. Roberto Frias Porto4200-465 Portugal Shanghai Jiao Tong University University of Michigan Shanghai Jiao Tong University Joint Institute Shanghai200240 China University of California Lab of Mechatronics Embedded Systems and Automation MercedCA95343 United States

The widespread utilization of electric vehicles depends on the advancement and optimization of fast battery charging technology. To tackle the dual challenges of attaining rapid charging while guaranteeing safety, a novel safety-enhanced fast charging strategy for lithium-ion batteries (LIBs) is presented, utilizing a thermal and health-aware safe deep reinforcement learning (SDRL) approach. Specifically, this work introduces an innovative approach by employing distributional reinforcement learning in LIBs fast charging control, simultaneously optimizing safety constraint issues. The proposed distributional soft actor critic-conservative augmented Lagrangian (DSAC-CAL) algorithm mitigates the overestimation of the reward value function while avoiding the underestimation of the cost value function. Both simulation and real-world charging experiments are conducted to validate the strategy's effectiveness. Compared to advanced deep deterministic policy gradient-based and soft actor-critic-based strategies, the proposed method exhibits superior optimality and stability, confirming its significant performance advantages. Furthermore, in contrast to model predictive control-based charging strategies, it offers superior real-time adaptability and proves more efficient in practical charging scenarios. Software code developed in this research is available at https://***/yxTao7/DSAC-CAL. © 1967-2012 IEEE.

关键词： Fast charging Lithium-ion battery Safe deep reinforcement learning Thermal safety

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