Article
Automation & Control Systems
Wei Sun, Yu Gao, Shun-Feng Su, Xudong Zhao, Xiangpeng Xie
Summary: This paper investigates the prescribed-time control for nonlinear systems with sensor faults and unknown control directions. The proposed control scheme guarantees that system states converge to zero within the specified time in advance and all signals of the closed-loop system are bounded. Numerical simulation and a practical simulation based on the Nomoto ship model intuitively show the feasibility of the scheme.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2023)
Article
Automation & Control Systems
Yuncheng Ouyang, Changyin Sun, Lu Dong
Summary: This paper focuses on the tracking problem of a dual-arm robot with unknown input backlash-like hysteresis. An adaptive coordinated control method with actor-critic design is proposed to handle the system uncertainty. The critic network judges the control performance based on a cost function, while the actor network approximates the unknown part of the hysteresis using neural networks. The stability of the system is proven using the Lyapunov direct method. Numerical simulation verifies the effectiveness of the proposed method.
Article
Computer Science, Artificial Intelligence
Ruihang Ji, Dongyu Li, Jie Ma, Shuzhi Sam Ge
Summary: This article investigates the saturation-tolerant prescribed control (SPC) for multiinput and multioutput nonlinear systems with unknown control directions and actuator faults. By proposing a concise tunnel prescribed performance (TPP) and constructing a novel auxiliary system, the control scheme is able to degrade performance constraints in the case of saturation and recover back to the user-specified performance without saturation. Furthermore, the proposed control scheme guarantees finite-time convergence and SPP-constrained tracking performance despite input saturation and uncertainties.
IEEE TRANSACTIONS ON FUZZY SYSTEMS
(2022)
Article
Computer Science, Artificial Intelligence
Ruihang Ji, Dongyu Li, Shuzhi Sam Ge, Haizhou Li
Summary: This article solves the entry capture problem by proposing a unified tunnel prescribed performance method, along with error self-tuning functions and an orientation function, to address the problem of input capture in nonlinear systems, while reducing control peaking and avoiding complex control algorithms.
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
(2023)
Article
Automation & Control Systems
Magdi S. Mahmoud, Muhammad Maaruf
Summary: This study proposes an output feedback synchronisation control method for uncertain bilateral teleoperation systems, addressing control issues through output error transformation, prescribed-performance functions, neural networks, etc., and verifies the effectiveness of the method through simulation results.
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
(2021)
Article
Automation & Control Systems
Maolong Lv, Zhiyong Chen, Bart De Schutter, Simone Baldi
Summary: The study focuses on the prescribed-performance control for high-power dynamics with time-varying unknown control coefficients and addresses the properties of Nussbaum functions and the design of switching gains.
Article
Automation & Control Systems
Junmin Peng, Kaining Wang, Chaoyong Li, Shenping Xiao
Summary: In this article, the problem of prescribed performance control (PPC) for multiple parametric strict-feedback (PSF) uncertain systems with unknown and nonidentical control directions is studied. The designed distributed controller ensures that the synchronization errors between followers and the leader evolve within a prescribed range, while maintaining bounded states in the closed-loop system. The proposed method effectively reduces the computational and communication burden on each agent by avoiding complex derivations and minimizing the necessary neighborhood information.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2023)
Article
Automation & Control Systems
Nan-Nan Zhao, Xin-Yu Ouyang, Li-Bing Wu, Feng-Rui Shi
Summary: This paper investigates the problem of event-triggered prescribed performance control for a class of uncertain nonlinear systems with unknown control directions and faults, proposing a new set of error transformation functions and achieving prescribed performance control and event-triggered control simultaneously for the first time in the considered nonlinear system. The proposed control scheme can guarantee bounded closed-loop signals and convergence of tracking error and all state errors within adjustable constraint functions, as verified by two simulation experiments.
Article
Automation & Control Systems
Zhongchao Liang, Zhongnan Wang, Jing Zhao, Pak Kin Wong, Zhixin Yang, Zhengtao Ding
Summary: With the consideration of actuator faults, this article proposes a fixed-time control protocol for autonomous ground vehicles (AGVs) to follow reference paths and velocities with preset performance constraints. The proposed protocol, based on homeomorphic mapping and barrier Lyapunov theorem, integrates fault-tolerant scheme for the controlled AGV. Hardware-in-the-loop (HIL) test results show that the proposed control protocol always provides superior control performance for the AGV.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2023)
Article
Automation & Control Systems
Ruihang Ji, Shuzhi Sam Ge, Dongyu Li
Summary: In this article, the authors investigate the saturation-tolerant prescribed control for a class of multiinput-multioutput nonlinear systems. They propose a concise finite-time tunnel prescribed performance method to achieve better tracking performance. An auxiliary system is designed to explore the interconnections between input and performance constraints, and the obtained saturation-tolerant prescribed performance has the ability to degrade or recover the performance boundaries based on different saturation conditions. The developed control method, along with a nonlinear disturbance observer, effectively improves robustness and reduces conservatism against external disturbances, input, and performance constraints. Comparative simulations are provided to showcase the theoretical findings.
IEEE TRANSACTIONS ON CYBERNETICS
(2023)
Article
Automation & Control Systems
Jie Zhang, Yingnan Pan, Qing Lu
Summary: This paper proposes a low-cost adaptive prescribed time tracking control strategy for switched nonlinear systems with input quantisation and unknown backlash-like hysteresis. A transformation function is introduced into the control design to achieve specified tracking accuracy within a preassigned settling time. A first-order sliding mode differentiator and a single-parameter estimation method are implemented based on the newly constructed coordinate transformations to synthesize a low-cost control scheme. The effectiveness of the proposed method is confirmed through simulation examples.
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
(2023)
Article
Automation & Control Systems
Siwen Hao, Yingnan Pan, Yuting Zhu, Liang Cao
Summary: This paper proposes an event-based adaptive tracking control scheme for n-link robotic systems in the presence of unknown backlash-like hysteresis (BLH) and deferred position constraints. The control tactic combines a transformation error with an asymmetric Lyapunov function to ensure that the position constraints of robotic systems are not violated after a user pre-specified time. The paper removes a common assumption condition generated by the conventional barrier Lyapunov function method and offsets the adverse effect of unknown BLH with the Nussbaum function. An event-triggered mechanism is designed to economize on network bandwidth resources. Based on the Lyapunov theory, the proposed control tactic ensures that all signals of robotic systems are bounded under unknown BLH and deferred position constraints. Simulation results prove the validity of the devised control scheme.
Article
Engineering, Electrical & Electronic
Wenrui Shi, Mingzhe Hou, Guangren Duan
Summary: This paper considers the global prescribed-time asymptotic tracking control problem for uncertain strict feedback nonlinear systems. It proposes an adaptive control method that has the advantages of bounded closed-loop signals, confining the tracking error within a prescribed zone in a prescribed time, and ensuring the asymptotic convergence of the tracking error.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS
(2022)
Article
Automation & Control Systems
Xiang Chen, Zhengrong Xiang
Summary: This article investigates a decentralized adaptive fuzzy event-triggered control problem of nonlinear switched large-scale systems with unknown hysteresis, and proposes a solution. By utilizing dynamic surface control technology and the common Lyapunov function approach, the issue of complexity explosion resulting from repeated differentiation in the traditional backstepping method is overcome successfully.
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
(2022)
Article
Automation & Control Systems
Yuan Sun, Peng Shi, Cheng-Chew Lim
Summary: This study investigates event-triggered adaptive leaderless consensus control for a class of nonlinear multi-agent systems with unknown backlash-like hysteresis. By combining adaptive backstepping and event-triggered control techniques, a new controller is designed to achieve desired consensus tracking, ensure signal boundedness, and exclude Zeno behavior. An example of four robotic manipulators demonstrates the effectiveness of the proposed control design scheme.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2021)