Article
Automation & Control Systems
Bao-Zhu Guo, Ren-Xi Zhao
Summary: This paper introduces a new approach for output regulation of the Euler-Bernoulli beam equation, inspired by a recent paper. The proposed method can handle disturbances from an unknown external system, where the frequencies and number of disturbances are unknown. By using the Sylvester equation and adaptive observers, the unknown frequencies can be estimated to achieve output regulation.
SIAM JOURNAL ON CONTROL AND OPTIMIZATION
(2023)
Article
Automation & Control Systems
Zhaowu Ping, Yang Song, Yaoyi Li, Yunzhi Huang, Jun-Guo Lu
Summary: This paper proposes a two-step controller design strategy combining triple-loop control and internal model control to solve the position tracking control problem of PMSM, overcoming parameter uncertainties and load torque disturbances. The first experimental study demonstrates the effectiveness of the method in achieving precise position tracking over a wide range.
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
(2022)
Article
Automation & Control Systems
Zhaowu Ping, Yingjie Jia, Yaoyi Li, Yunzhi Huang, Hai Wang, Jun-Guo Lu
Summary: In this article, a method based on internal model controller and global robust output regulation theory is proposed to solve the global position tracking control problem of permanent magnet synchronous motor (PMSM) servo system. By constructing an appropriate internal model and global stabilization controller, the global position tracking and disturbance rejection of the system can be guaranteed.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2022)
Article
Automation & Control Systems
Bao-Zhu Guo, Ren-Xi Zhao
Summary: This paper considers output regulation for a 1-d heat equation using an adaptive observer internal model approach to estimate unknown frequencies and achieve output regulation and disturbance rejection for this PDE.
Article
Automation & Control Systems
Xingxiu He, Maobin Lu
Summary: In this paper, the trajectory tracking control problem of a class of uncertain Euler-Lagrange systems subject to disturbances is investigated. Unlike existing approaches, a class of dynamic output feedback control laws that depend on the tracking error of the position and velocity are proposed instead of assuming the measurability of the reference trajectory's position, velocity, and acceleration. By characterizing the reference trajectory and disturbances with an exosystem, an internal model is designed to learn the desired feedforward input, allowing the tracking of the reference trajectory despite unknown system parameters and disturbances. The effectiveness of this approach is demonstrated through its application to trajectory tracking control of a three-link cylindrical robot arm.
Article
Automation & Control Systems
Hongyinping Feng, Bao-Zhu Guo
Summary: This paper designs an observer for SISO linear finite-dimensional systems corrupted by general disturbances. The proposed observer, called extended dynamics observer (EDO), can estimate both state and disturbance simultaneously. The observer design assumes that the plant with unknown disturbance is observable. The main advantage of this method is the maximum utilization of prior information of the disturbance. The well-posedness of EDO is established and the theoretical results are validated by numerical simulations. (c) 2023 European Control Association. Published by Elsevier Ltd. All rights reserved.
EUROPEAN JOURNAL OF CONTROL
(2023)
Article
Automation & Control Systems
S. Priyanka, R. Sakthivel, H. R. Karimi, S. Saat
Summary: This paper introduces a new method that combines a proportional-integral observer and nonlinear-equivalent-input-disturbance estimator to achieve superior disturbance rejection performance. The method estimates and rejects disturbances from the nonlinear system effectively by intertwining the estimated disturbance into the repetitive control input. By converting the control system into a two-dimensional modified repetitive control system and adjusting the gains, the proposed controller improves learning and control performance, resulting in increased tracking accuracy.
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
(2023)
Article
Automation & Control Systems
Xin Hu, Xinjiang Wei, Huifeng Zhang, Qingtao Gong, Sixiang Sun
Summary: This paper focuses on the problem of event-triggered disturbance rejection tracking control for marine surface ships under actuator saturation effects with ocean stochastic disturbances. The proposed control scheme incorporates a stochastic disturbance observer and an auxiliary dynamic filter to enhance disturbance rejection tracking control performance. Illustrative simulations on a 1:70 model ship demonstrate the effectiveness of the proposed control scheme.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Mathematics, Applied
Shuangxi Huang, Feng-Fei Jin
Summary: This paper discusses the problems of output tracking and disturbance rejection for a 1-D wave equation with in-domain feedback/recirculation of an intermediate point velocity. A disturbance estimator is designed using the active disturbance rejection control method to estimate the disturbance, and an observer is proposed and shown to exponentially converge to the original system. An output feedback controller is constructed based on the designed observer. The resulting closed-loop system is well-posed, with all internal signals bounded, and the output exponentially tracks the reference signal. Theoretical results are validated through numerical simulations.
COMPUTERS & MATHEMATICS WITH APPLICATIONS
(2023)
Article
Engineering, Aerospace
Pedro Simplicio, Andres Marcos, Samir Bennani
Summary: The development of effective load relief strategies is crucial for improving launcher flight performance by increasing wind resilience and decreasing mass. This article proposes an improved load relief functionality for reusable vehicles, utilizing a disturbance observer for on-board wind anticipation and a load relief compensator driven by wind estimation. Demonstrations using simulation models highlight the benefits of this approach, with the additional finding that using fins during ascent can further enhance launcher performance.
Article
Mathematics, Applied
M. Vijayakumar, R. Sakthivel, Ardashir Mohammadzadeh, S. A. Karthick, S. Marshal Anthoni
Summary: This article discusses an effective output tracking control and disturbance rejection problem for an input time-delayed Markov jump system using a proportional integral observer, improved equivalent input disturbance approach, and Smith predictor. The combination of these techniques ensures desired tracking performance and stability of the closed-loop system.
APPLIED MATHEMATICS AND COMPUTATION
(2021)
Article
Automation & Control Systems
Zhengqiang Zhang, Yingli Sang, Xinkai Chen
Summary: In this paper, a partial-state feedback model reference adaptive control strategy for uncertain linear time-invariant systems with unmatched disturbances is proposed. The control design is based on parametrization and observer technique, and the control structure and output matching of nominal partial-state feedback disturbance rejection are presented. The adaptive partial-state feedback disturbance rejection scheme ensures closed-loop system stability and asymptotic output tracking. A simulation example demonstrates the effectiveness of the proposed adaptive partial-state feedback control design.
Article
Computer Science, Interdisciplinary Applications
M. Vijayakumar, R. Sakthivel, F. Kong, S. Marshal Anthoni
Summary: In this article, the output tracking and disturbance rejection problem for a class of switched systems with state time-varying delay under asynchronous switching are discussed. Proportional-integral control law is implemented to achieve the required tracking performance, and an improved equivalent-input-disturbance estimator is used to estimate and suppress external disturbances. An average dwell time approach is employed to establish a set of conditions for the structure of linear matrix inequalities through setting a proper choice of multiple piecewise Lyapunov-Krasovskii functional. Two numerical examples and simulations of a DC motor driving model are presented to validate the efficiency and applicability of the proposed control synthesis.
MATHEMATICS AND COMPUTERS IN SIMULATION
(2023)
Article
Computer Science, Artificial Intelligence
Ho Jae Lee
Summary: A feedback-type vaccination and treatment policy is designed for a nonlinear susceptible-infected-recovered (SIR) epidemic model with uncertainties and disturbances, considering only the number of infected individuals. An observer-based output-feedback (OBOF) controller design methodology is established in the Takagi-Sugeno fuzzy model framework. The designed controller exhibits disturbance attenuation performance, robustness against uncertainties, and closed-loop positivity preservation. The contributions lie in the novel controller structure for closed-loop positivity, separate disturbance attenuation performances, convex optimization problems for independent design under uncertainties, and the demonstration of the separation principle in disturbance attenuation.
APPLIED SOFT COMPUTING
(2023)
Article
Engineering, Mechanical
Bin Xian, Tian Xie, Xin Jin
Summary: This paper presents a novel nonlinear tracking control strategy for an underactuated tilt trirotor UAV subject to unknown external disturbances. The control scheme utilizes inner-loop-outer-loop methodology to compensate for the effects of unknown disturbances on both inner and outer loops. The stability of the closed-loop system and convergence of tracking errors are proven through Lyapunov based stability analysis, and hardware-in-loop flight experiments validate the control performance of the proposed strategy.
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
(2021)
Article
Automation & Control Systems
Wen Kang, Xiao-Nan Wang, Bao-Zhu Guo
Summary: This work proposes an observer-based fuzzy quantized control method for stochastic third-order parabolic partial differential equations (PDEs). The method introduces three types of quantizers and reduces the energy consumption of the system. Different stability results are presented for each case, and sufficient LMI-based conditions are investigated to ensure the stability and performance of the system.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2023)
Article
Automation & Control Systems
Tingting Meng, Haifeng Huang, Xiaoyang Wu, Qiang Fu
Summary: This paper proposes two observer-based control methods for regulating a variable coefficient Euler-Bernoulli beam to track prescribed references. An uncertain disturbance-free beam system is constructed and controlled through an extended observer. The theoretical results are validated with a simulation example.
ASIAN JOURNAL OF CONTROL
(2023)
Article
Automation & Control Systems
Hongyinping Feng, Bao-Zhu Guo
Summary: This paper designs an observer for SISO linear finite-dimensional systems corrupted by general disturbances. The proposed observer, called extended dynamics observer (EDO), can estimate both state and disturbance simultaneously. The observer design assumes that the plant with unknown disturbance is observable. The main advantage of this method is the maximum utilization of prior information of the disturbance. The well-posedness of EDO is established and the theoretical results are validated by numerical simulations. (c) 2023 European Control Association. Published by Elsevier Ltd. All rights reserved.
EUROPEAN JOURNAL OF CONTROL
(2023)
Article
Automation & Control Systems
Tingting Meng, Jiubin Wang, Qiang Fu, Xiuyu He
Summary: This paper proposes observer based controls for a MIMO Timoshenko beam system with disturbances and references from an exosystem, and also gives reduced-order controls by further limiting the references and disturbances. State feedback controls are proposed to guarantee the output regulation problem of a nominal Timoshenko beam system. Exosystem observers and their reduced-order forms are proposed for different geometric multiplicities and limited conditions of disturbances, references and system uncertainties. Robust output regulation is proved for the Timoshenko beam under observer based controls. Simulation examples are provided for a Timoshenko beam system with different references and system uncertainties.
INTERNATIONAL JOURNAL OF CONTROL
(2023)
Article
Automation & Control Systems
Tingting Meng, Bao-Zhu Guo
Summary: In this article, we address the problem of robust output regulation for an MIMO wave system with disturbance and reference from an exosystem. We propose an observer-based approach from the perspective of partial differential equations (PDEs). The main differences from previous works lie in our consideration of exosystems with non-algebraically simple eigenvalues and the direct design of tracking error feedback controls from the uncertain PDEs themselves. We introduce transformations to convert the original system into a disturbance-free system and each reference into a linear combination of the exosystem, allowing for the design of an observer and feedforward controls. The robustness of the closed-loop system is discussed through stability analysis.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Mathematics, Applied
Fu Zheng, Sijia Zhang, Huakun Wang, Bao-Zhu Guo
Summary: In this paper, the exponential stabilization problem of a heat-wave coupled system under boundary control and collocated observation is considered. Two kinds of feedback strategies, namely static negative proportional feedback and dynamic feedback, are designed. The exponential stabilities of the closed-loop systems under different feedbacks are verified using the Lyapunov function direct method. The H infinity robustness is further analyzed and related sufficient conditions are developed. Additionally, the closed-loop systems are discretized into semi-discrete systems using a new finite difference method, and the uniform exponential stabilities of the discrete systems are established using an approach paralleling the continuous counterpart.
JOURNAL OF MATHEMATICAL ANALYSIS AND APPLICATIONS
(2023)
Article
Mathematics, Applied
Nurehemaiti Yiming, Bao-Zhu Guo
Summary: In this paper, the asymptotic behavior of an M/G/1 retrial queueing system with server breakdowns is studied, and it is described by infinitely many partial integro-differential equations. The stability and convergence properties of the system are analyzed through the investigation of the system operator's spectrum. The results show the strong stability of the time-dependent solution in the natural Banach state space and the convergence of the solution to its steady-state solution when the server failure rate is zero. Additionally, the properties of the system operator and the corresponding C0-semigroup are examined.
JOURNAL OF MATHEMATICAL ANALYSIS AND APPLICATIONS
(2023)
Article
Automation & Control Systems
Mengling Li, Ze-Hao Wu, Feiqi Deng, Bao-Zhu Guo
Summary: In this article, the active disturbance rejection control approach is applied for the first time to address the disturbance rejection and consensus problems in a class of second-order stochastic multiagent systems with undirected and connected network topology. Extended state observers are designed to estimate the unmeasured states and random total disturbance, and active antidisturbance consensus protocols are proposed to achieve consensus in mean square and almost sure practical sense. Numerical simulations are conducted to validate the effectiveness of the consensus protocols.
IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS
(2023)
Article
Automation & Control Systems
Bao-Zhu Guo, Hao-Lan Peng, Ze-Hao Wu
Summary: In this paper, the convergence of a nonlinear tracking differentiator constructed from a finite-time stable system is considered in the presence of bounded stochastic noise. The existence of global weak solutions is proved, and it is shown that the nonlinear tracking differentiator tracks the input signal in the almost surely practical sense. The convergence accuracy of the proposed differentiator is demonstrated to be higher than that of the linear tracking differentiator with the same tuning parameter through numerical simulations.
IFAC JOURNAL OF SYSTEMS AND CONTROL
(2023)
Article
Automation & Control Systems
Xiaoyang Wu, Wei He, Qiang Wang, Tingting Meng, Xiuyu He, Qiang Fu
Summary: This article describes the design of an eagle-like flapping-wing robot with a vision system and flight control system. It has a wingspan of 1.78m and a mass of 985g. Even with a 165g vision module, the robot can fly for more than 1 hour at a speed of 5.9m/s.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Automation & Control Systems
Zhi-Liang Zhao, Ruonan Yuan, Bao-Zhu Guo, Zhong-Ping Jiang
Summary: This paper considers the finite-time stabilization problem for a class of multi-input multi-output nonlinear systems composed of several different subsystems. It presents a novel decentralized, continuous finite-time output-feedback control algorithm by compensating the unknown nonlinear couplings and applying a saturation technique. The effectiveness of the proposed design is validated through rigorous mathematical analysis and numerical simulations.
SIAM JOURNAL ON CONTROL AND OPTIMIZATION
(2023)
Article
Automation & Control Systems
Qiaomin Xiang, Ze-Hao Wu, Ju H. Parks, Bao-Zhu Guo
Summary: This paper investigates the observability and observer design for a class of systems described by two-dimensional hyperbolic PDEs with superlinear boundary conditions that can exhibit chaos. The exact and approximate observability are proven using the method of characteristic and boundary reflection relations. Based on observability, two types of Luenberger PDE observers are designed, using boundary velocity and boundary displacement measurements respectively. Sufficient conditions are developed to guarantee the global exponential stability and global asymptotic stability of the observer error systems. Numerical simulations are conducted to validate the theoretical findings.
SIAM JOURNAL ON CONTROL AND OPTIMIZATION
(2023)
Article
Automation & Control Systems
Tingting Meng, Yipeng Zhang, Qiang Fu, Wei He
Summary: This article proposes adaptive internal model controls for the collocated output regulation of a flexible wing with unknown disturbances and references. Observer-based tracking error feedback controls are first designed for robust output regulation with a known exosystem matrix. An adaptive observer is further proposed for unknown exosystems, allowing the observer error system to converge to zero exponentially. By combining adaptive observers and observer-based controls, adaptive observer-based controls are obtained to regulate tracking errors towards zero. The closed-loop system is proven to be internally asymptotically stable. A simulation example is provided for adaptive internal model control of the wing system.
IEEE TRANSACTIONS ON CYBERNETICS
(2023)
Article
Mathematics, Applied
Xiangfu Zeng, Tingting Meng, Qiang Fu, Xiaoyang Wu, Haifeng Huang, Muhammad Arif Mughal
Summary: This paper proposes observer based saturated controls for the robust output regulation of a flexible wing system. By introducing observers, the system is able to track and regulate the disturbances and reference signals, ensuring system stability and performance.
JOURNAL OF MATHEMATICAL ANALYSIS AND APPLICATIONS
(2024)
Article
Automation & Control Systems
Xiaoyu Luo, Chengcheng Zhao, Chongrong Fang, Jianping He
Summary: This paper investigates the problem of false data injection attacks in multi-agent dynamical systems and proposes FDI attack set selection algorithms to maximize the convergence error by finding the optimal subset of compromised agents.
Article
Automation & Control Systems
Nitin K. Singh, Abhisek K. Behera
Summary: In this paper, a twisting observer is proposed for robustly estimating the states of a second-order uncertain system. The observer approximates the unknown sign term for the non-measurable state with a delayed output-based switching function, and achieves the desired steady-state accuracy by controlling the delay parameter. The application of the observer to output feedback stabilization is also discussed.
Article
Automation & Control Systems
Alexander Aleksandrov
Summary: This paper investigates the absolute stability problem for positive Persidskii systems with delay, proposes a special construction method for diagonal Lyapunov-Krasovskii functionals, and derives a criterion for the existence of such functionals guaranteeing the absolute stability, as well as obtaining sufficient conditions for a family of time-delay Persidskii systems to construct a common diagonal Lyapunov-Krasovskii functional. The efficiency of the developed approaches is demonstrated through four examples.
Article
Automation & Control Systems
Noureddine Toumi, Roland Malhame, Jerome Le Ny
Summary: This paper addresses large multi-agent dynamic discrete choice problems using a linear quadratic mean field games framework. The model incorporates the features where agents have to reach a predefined set of possible destinations within a fixed time frame and running costs can become negative to simulate crowd avoidance. An upper bound on the time horizon is derived to prevent agents from escaping to infinity in finite time. The existence of a Nash equilibrium for infinite population and its epsilon-Nash property for a large but finite population are established. Simulations are conducted to explore the model behavior in various scenarios.
Article
Automation & Control Systems
Philippe Schuchert, Vaibhav Gupta, Alireza Karimi
Summary: This paper presents the design of fixed-structure controllers for the As2 and Asw synthesis problem using frequency response data. The minimization of the norm of the transfer function between the exogenous inputs and performance outputs is approximated through a convex optimization problem involving Linear Matrix Inequalities (LMIs). A general controller parametrization is used for continuous and discrete-time controllers with matrix transfer function or state-space representation. Numerical results show that the proposed data-driven method achieves performance equivalent to model-based approaches when a parametric model is available.
Correction
Automation & Control Systems
Zhijun Guo, Gang Chen
Article
Automation & Control Systems
Matteo Della Rossa, Thiago Alves Lima, Marc Jungers, Raphael M. Jungers
Summary: This paper presents new stabilizability conditions for switched linear systems with arbitrary and uncontrollable underlying switching signals. The study focuses on two specific settings: the robust case with completely unknown and unobservable active mode, and the mode-dependent case with controller depending on the current active switching mode. The technical developments are based on graph-theory tools and path-complete Lyapunov functions framework, enabling the design of robust and mode-dependent piecewise linear state-feedback controllers using directed and labeled graphs.
Article
Automation & Control Systems
Elena Petri, Romain Postoyan, Daniele Astolfi, Dragan Nesic, W. P. M. H. (Maurice) Heemels
Summary: This study investigates a scenario where a perturbed nonlinear system transmits its output measurements to a remote observer via a packet-based communication network. By designing both the observer and the local transmission policies, accurate state estimates can be obtained while only sporadically using the communication network.
Article
Automation & Control Systems
Jonas Krook, Robi Malik, Sahar Mohajerani, Martin Fabian
Summary: This paper proposes a method to synthesise controllers for cyber-physical systems subjected to disturbances, such that the controlled system satisfies specifications given as linear temporal logic formulas. The approach constructs a finite-state abstraction of the original system and synthesises a controller for the abstraction. It introduces the robust stutter bisimulation relation to account for disturbances and uncertainty, ensuring that related states have similar effects under the same controller. The paper demonstrates that the existence of a controller for the abstracted system implies the existence of a controller for the original system enforcing the linear temporal logic formula.
Article
Automation & Control Systems
Clement Chahbazian, Karim Dahia, Nicolas Merlinge, Benedicte Winter-Bonnet, Aurelien Blanc, Christian Musso
Summary: The paper derives a recursive formula of the Fisher information matrix on Lie groups and applies it to nonlinear Gaussian systems on Lie groups for testing. The proposed recursive CRLB is consistent with state-of-the-art filters and exhibits representative behavior in estimation errors. This paper provides a simple method to recursively compute the minimal variance of an estimator on matrix Lie groups, which is fundamental for implementing robust algorithms.
Article
Automation & Control Systems
Yiheng Fu, Pouria Ramazi
Summary: This study investigates the characteristics of decision fluctuations in heterogeneous populations and explores the uncertainties in imitation behavior. The findings are important for understanding the bounded rationality nature of imitation behaviors.
Article
Automation & Control Systems
Lars A. L. Janssen, Bart Besselink, Rob H. B. Fey, Nathan van de Wouw
Summary: This paper introduces a mathematical relationship between the accuracy of reduced-order linear-time invariant subsystem models and the stability and accuracy of the resulting reduced-order interconnected linear time-invariant model. This result can be used to directly translate the accuracy characteristics of the reduced-order subsystem models to the accuracy properties of the interconnected reduced-order model, or to translate accuracy requirements on the interconnected system model to accuracy requirements on subsystem models.
Article
Automation & Control Systems
Piyush Gupta, Vaibhav Srivastava
Summary: We study the optimal fidelity selection for a human operator servicing tasks in a queue, considering the trade-off between high-quality service and penalty due to increased queue length. By modeling the operator's cognitive dynamics and task fidelity, we determine the optimal policy and value function numerically, and analyze the structural properties of the optimal fidelity policy.
Article
Automation & Control Systems
Lukas Schwenkel, Alexander Hadorn, Matthias A. Mueller, Frank Allgoewer
Summary: In this work, the authors study economic model predictive control (MPC) in periodic operating conditions. They propose a method to achieve optimality by multiplying the stage cost by a linear discount factor, which is easy to implement and robust against online changes. Under certain assumptions, they prove that the resulting linearly discounted economic MPC achieves optimal asymptotic average performance and guarantees practical asymptotic stability of the optimal periodic orbit.
Article
Automation & Control Systems
Taher Ebrahim, Sankaranarayanan Subramanian, Sebastian Engell
Summary: We propose a robust nonlinear model predictive control algorithm for dynamic systems with mixed degrees of freedom. This algorithm optimizes both continuous and discrete manipulated variables, enhancing closed-loop performance. Our approach relies on a computationally efficient relaxation and integrality restoration strategy and provides sufficient conditions to establish recursive feasibility and guarantee robust closed-loop stability. The effectiveness of the approach is demonstrated through two nonlinear simulation examples.
