In this paper, the authors propose an approach to properly aggregate a reversible discretetime switched linear system and prove that, for any n-dimensional exponentially stabilizable switched system, the authors could...
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In this paper, the authors propose an approach to properly aggregate a reversible discretetime switched linear system and prove that, for any n-dimensional exponentially stabilizable switched system, the authors could design up to n linear gain matrices, such that the extended system is also exponentially stabilizable as a switched autonomous system. By utilizing the pathwise state feedback switching strategy of the switched autonomous system, the original system is aggregated into a piecewise linear system that is step-wise norm contractive and exponentially stable. The authors also develop a robust switching design mechanism that simultaneously achieves exponential stability, structural stability, and input-to-state stability for the closed-loop system. A numerical example is presented to demonstrate the effectiveness of the proposed design scheme.
This article proposes a finite-time proportional-integral-derivative(FT-PID) control method to fast stabilize the control system to achieve the desired performance within the predesignated time *** a considered nonaff...
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This article proposes a finite-time proportional-integral-derivative(FT-PID) control method to fast stabilize the control system to achieve the desired performance within the predesignated time *** a considered nonaffined nonlinear system, we develop a new dynamic linearization approach to reformulate the system model as a linear data model(LDM) whose arguments are consistent with that used in the PID control law. Then, a projection algorithm is presented to estimate the unknown pseudo gradient vector of the LDM. Subsequently, an adaptive tuning algorithm is designed to update the three PID parameters by solving linear matrix inequalities in terms of the predesignated error precision and the finite-time instant. The finite-time convergence of the proposed FT-PID control system is shown mathematically, which guarantees a pre-specified error precision to be achieved within the predesignated finite-time instants. As a result, not only can the proposed FT-PID control save the control cost but it also improves the production efficiency. The simulation study verifies the results.
This paper studies finite-time stability and instability theorems in the probability sense for stochastic nonlinear timevarying systems. Firstly, a new sufficient condition is proposed to guarantee that the considered...
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This paper studies finite-time stability and instability theorems in the probability sense for stochastic nonlinear timevarying systems. Firstly, a new sufficient condition is proposed to guarantee that the considered system has a global ***, we propose new finite-time stability and instability criteria that relax the constraints on LV(the infinitesimal operator of Lyapunov function V) by the uniformly asymptotically stable function. On the one hand, these obtained results make up for the shortcomings of the existing results. On the other hand, the new finite-time stability theorems can be viewed as natural extensions of the existing results and also allow LV to be indefinite(negative or positive) rather than just only allow LV < ***, some simulation examples verify the validity of the theoretical results.
An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic perf...
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An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights,demonstrating the viability of the control scheme proposed in this paper.
This paper considers the adaptive finite-time control and observer design method for a class of non-strict feedback systems with unmeasurable states,unknown nonlinear dynamics and actuator *** this paper,an observer i...
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This paper considers the adaptive finite-time control and observer design method for a class of non-strict feedback systems with unmeasurable states,unknown nonlinear dynamics and actuator *** this paper,an observer is proposed to estimate the unmeasurable states in finite-time based on adaptive technique and neural networks,while the actuator faults are not *** filter is used to solve the computational explosion and singularity problems caused by the traditional backstepping and non-strict feedback structure,*** the fault efficiency indicators in real systems are not available,two-layer neural networks are adopted,where the first network is to estimate the unknown nonlinearities of systems and the second one is to estimate fault efficiency indicators and unknown nonlinear *** proposed scheme guarantees that states are bounded through stability ***,two experiments including a numerical example and a spring-mass-damper system are given to verify the effectiveness of the proposed method.
Different from the standard linear quadratic(LQ)problem for stochastic systems,the LQ problem considered in the paper has extra measurability *** problem also appears in the LQ control problem for stochastic systems w...
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Different from the standard linear quadratic(LQ)problem for stochastic systems,the LQ problem considered in the paper has extra measurability *** problem also appears in the LQ control problem for stochastic systems with delays,rational expectations problems,asymmetric information control,and so *** essential difficulty lies in that one has to optimize the input and its conditional expectations *** stochastic maximum principle(SMP)and orthogonal decomposition technique are the key ***,the authors establish the SMP and convert the original problem into forward and backward stochastic difference equations(FBSDEs)with extra measurability ***,the authors resolve the FBSDEs by using the orthogonal decomposition technique and obtain the analytical solution to the underlying ***,the authors explore the essential distinction between the problem and the standard stochastic LQ control ***,numerical examples are given to illustrate the obtained results.
This article proposes a distributed dynamic event-triggered data-driven iterative learning control(DET-DDILC)scheme under a predefined performance to tackle the bipartite tracking control problem for multiagent system...
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This article proposes a distributed dynamic event-triggered data-driven iterative learning control(DET-DDILC)scheme under a predefined performance to tackle the bipartite tracking control problem for multiagent systems(MASs). An improved dynamic linearization technique is utilized to convert the nonlinear MASs into an iterative linear data model. First,a peer-to-peer mapping function is introduced to map the constrained distributed system output homeomorphism to an unconstrained one. In addition, a DET mechanism based on a time-iteration-varying function is devised to conserve network communication resources. Based on the unconstrained transformation and the designed DET mechanism, the DET-DDILC algorithm is devised to ensure that the bipartite tracking performance of MASs can be within the preset range. Finally, the effectiveness and feasibility of the designed control scheme are demonstrated via a simulation case by a comparison.
The distributed optimal output synchronization problem for the leaderless heterogeneous multi-agent system with a general global cost function is investigated for the first time by linear quadratic(LQ) optimal control...
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The distributed optimal output synchronization problem for the leaderless heterogeneous multi-agent system with a general global cost function is investigated for the first time by linear quadratic(LQ) optimal control theory. Conventional algorithms for heterogeneous systems are quite complex, requiring the design of a virtual reference generator and the solving of regulation *** paper presents a novel distributed asymptotically optimal controller by incorporating the design of distributed observer and feedforward controller. A general form of the distributed controller is obtained by solving an augmented algebraic Riccati equation, which is parallel to classical optimal control theory. The optimal topology is an arbitrary directed graph containing only a spanning tree. It is shown that the proposed algorithms outperform the traditional consensus methods in the convergence speed by selecting proper observer gain matrices, and eliminate the reliance on the nonzero eigenvalues of Laplacian matrix. Simulation example further demonstrates the effectiveness of the proposed scheme and a faster superlinear convergence speed than the existing algorithm.
A novel topology of modular ferrite magnet fluxswitching linear motor(FMFSLM)use for track transport is presented in this paper,which enables more ferrite magnets to be inserted into the primary iron *** motor has a s...
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A novel topology of modular ferrite magnet fluxswitching linear motor(FMFSLM)use for track transport is presented in this paper,which enables more ferrite magnets to be inserted into the primary iron *** motor has a significant low-cost advantage in long-distance linear *** proposed FMFSLM’s structure and working principle were ***,the thrust force expression of the motor was *** thrust force components triggering thrust force ripple were investigated,and their expressions can be obtained according to the inductances’Fourier series ***,the relationship between the harmonics of thrust force and that of self-and mutual inductances was revealed *** on the relationship,a skewed secondary should be practical to reduce the thrust force ***,the effect of employing a skewed secondary to the proposed FMFSLM was investigated,and an optimized skewing span distance was *** element analysis(FEA)was conducted to validate the exactness of the theoretical *** simulation results indicate that the strategy of suppressing thrust force ripple has a significant ***,the motor maintains a good efficiency *** results of the prototype experiment are in good agreement with FEAs,which further verifies the proposed modular interior FMFSLM’s practicability.
The paper addresses the decentralized optimal control and stabilization problems for interconnected systems subject to asymmetric *** with previous work,a closed-loop optimal solution to the control problem and suffic...
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The paper addresses the decentralized optimal control and stabilization problems for interconnected systems subject to asymmetric *** with previous work,a closed-loop optimal solution to the control problem and sufficient and necessary conditions for the stabilization problem of the interconnected systems are given for the first *** main challenge lies in three aspects:Firstly,the asymmetric information results in coupling between control and estimation and failure of the separation ***,two extra unknown variables are generated by asymmetric information(different information filtration)when solving forward-backward stochastic difference ***,the existence of additive noise makes the study of mean-square boundedness an *** adopted technique is proving and assuming the linear form of controllers and establishing the equivalence between the two systems with and without additive noise.A dual-motor parallel drive system is presented to demonstrate the validity of the proposed algorithm.
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