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Enhanced extended state observer based prescribed time tracking control of wheeled mobile robot with slipping and skidding Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-17 Bo Qin, Huaicheng Yan, Xiao Hu, Yongxiao Tian, Simon X. Yang
This article focuses on the trajectory tracking control for a perturbed wheeled mobile robot (WMR) with slipping and skidding. The external disturbances and uncertainties caused by the slipping and skidding compose the “total” disturbance. By analyzing the stable state of the controlled system, the WMR reference model driven by a favorable disturbance is constructed. This article proposes an enhanced
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Adaptive composite learning control of a flexible two‐link manipulator with unknown spatiotemporally varying disturbance Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-17 Hejia Gao, Zele Yu, Juqi Hu, Changyin Sun
This article presents a novel adaptive composite learning (ACL) control strategy combining reinforcement learning and a disturbance observer (DOB) to address vibration issues in a flexible two‐link manipulator (FTLM) system affected by unknown spatiotemporally varying disturbances. Based on the assumed mode method, the FTLM system is initially transformed into an ordinary differential equation model
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A model free adaptive‐robust design for control of robot manipulators: Time delay estimation approach Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-17 Mohammad Taefi, Mohammad A. Khosravi
SummaryThis paper addresses a new robust control scheme for tracking control of the robot manipulators. This algorithm employs time delay estimation (TDE) technique in combination with backstepping control strategy. The suggested control scheme has no dependency on the robot dynamic model and knowing the bound of the inertia matrix is enough to develop this controller. To develop the idea, at first
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Adaptive output consensus of heterogeneous nonlinear multi‐agent system under random link failures with partially unknown transition rates Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-16 Yaning Liu, Huijin Fan, Lei Liu, Bo Wang
Considering the complexity of communication environment in reality, this paper investigates the adaptive output consensus problem for heterogeneous nonlinear multi‐agent system (MAS) under random link failures, in which connection of each link may suffer from link failure. The major challenge lies in dealing with the coupling among different nonlinearities and integrator orders of heterogeneous agents
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Distributed formation control for leader‐follower quadrotor unmanned aerial vehicles system based on practical sliding mode and event‐triggered mechanisms Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-16 Xumei Lin, Qihang Lin, Chenglong Yin, Chengcheng Peng
This article investigates the distributed formation trajectory tracking problem of a homogeneous quadrotor unmanned aerial vehicles (UAVs) system using a leader‐follower consensus protocol in three‐dimensional space. To enable the follower UAVs in the swarm to track a single leader UAV and form a desired formation under undirected topology, a six‐degree‐of‐freedom dynamic model with bounded time‐varying
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Distributed finite‐time backstepping adaptive containment control for multiple unmanned aerial vehicles with input saturation Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-15 Bojian Liu, Aijun Li, Yong Guo, Changqing Wang
This paper investigates a distributed adaptive finite‐time containment control scheme for multiple unmanned aerial vehicles subject to external disturbances and input saturation. Combined with a novel indicator of the saturation degree designed by the hyperbolic tangent function, an adaptive method is proposed to deal with the input saturation issue, which considers both symmetry and asymmetry saturation
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H∞ attenuation of disturbance switching over multiple frequency ranges Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-15 Chenxiao Cai, Xiaoqi Song, Jason J. R. Liu, Peng Cheng, James Lam
SummaryThis paper addresses the problem of switching control for systems subject to external disturbances that vary over multiple frequency ranges. Specifically, two different scenarios of disturbance injection are considered; namely, the disturbance may switch between different prescribed frequency ranges, subject to an average dwell time setting, or the disturbance may reside within one of the frequency
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Time‐optimal trajectory generation and observer‐based hierarchical sliding mode control for ballbots with system constraints Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-13 Duc Cuong Vu, Minh Duc Pham, Thi Thuy Hang Nguyen, Thi Van Anh Nguyen, Tung Lam Nguyen
This paper introduces a comprehensive motion planning–tracking–safety constraint scheme for a 3D ballbot system. A nonlinear control for the 3D ballbot system is designed based on three separate planes by utilizing extended state observer (ESO) to estimate coupling mechanisms. Three virtual control signals are generated from these distinct planes and can be used for formulating actual control signals
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On stability and H∞ control synthesis of sampled‐data systems: A multiple convex function approximation approach Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-12 Wenchengyu Ji, Yulian Jiang, Jian Sun, Yanzheng Zhu, Shenquan Wang
This article deals with the stability and control synthesis for a class of linear sampled‐data systems. First, a novel integral inequality with the cubic term of integral interval length instead of reciprocal one of integral interval length is constructed by non‐orthogonal polynomials. This can make full use of slack matrix variables and additional information about sawtooth structural sampling pattern
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Decentralized adaptive proportional‐integral tracking control for strong interconnected nonlinear systems subject to unmodeled dynamics and uncertain input delays Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-12 Zhifeng Gao, Xianqing Sha, Jiaqi He, Kaihui Shen
In this paper, the problem of decentralized adaptive proportional‐integral (PI) tracking control is investigated for a class of strong interconnected nonlinear systems in presence of unmodeled dynamics and uncertain input delays. A novel compensation mechanism is proposed to deal with the considered strong interconnection functions by applying a smooth switching function to the design algorithm, and
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Geometric prescribed‐time control of quadrotors with adaptive extended state observers Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-11 Liping Wang, Hailong Pei
This article studies an adaptive extended state observer (AESO) based prescribed‐time geometric attitude stabilization problem of quadrotors with endogenous uncertainties, exogenous disturbances, and actuator saturation, which can be estimated and compensated by AESOs. The employment of the geometric representation method for system attitude can effectively avoid ambiguity or singularity problems that
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Segmented hybrid event‐triggered control for underactuated autonomous underwater vehicles with an asymmetrical prescribed performance constraint Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-11 Ziyi Su, Bing Huang, Jianming Miao, Xiaogong Lin
In this technical article, the trajectory‐tracking problem of event‐based adaptive prescribed performance control for underactuated autonomous underwater vehicles (AUVs) is considered. The primary innovation of this article is the proposal of a segmented event‐triggered mechanism (SETM) that incorporates preselected convergence time. This mechanism allows for the regulation of communication frequency
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Safe adaptive output‐feedback optimal control of a class of linear systems Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-11 S M Nahid Mahmud, Moad Abudia, Scott A. Nivison, Zachary I. Bell, Rushikesh Kamalapurkar
The objective of this research is to enable safety‐critical systems to simultaneously learn and execute optimal control policies in a safe manner to achieve complex autonomy. Learning optimal policies via trial and error, that is, traditional reinforcement learning, is difficult to implement in safety‐critical systems, particularly when task restarts are unavailable. Safe model‐based reinforcement
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Designated‐time stabilizing strategy for a class of time‐varying nonlinear systems and its application to pendulum system Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-10 Jiao‐Jiao Li, Zong‐Yao Sun, Changyun Wen, Chih‐Chiang Chen
In this paper, a new scheme is proposed to stabilize a class of nonlinear systems within a designated time, mainly motivated by two unsolved problems: the singularity caused by infinity control magnitudes at the prescribed time instant and the lack of formulating/manipulating state responses after the prescribed time. Under the proposed scheme, an exquisite controller is constructed by entailing both
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Adaptive tracking control of nonlinear systems with unknown time‐varying parameters via a monotonically increasing function Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-10 Guoqing Liu, Yang‐Yang Chen
This article considers the adaptive tracking control problem of a class of strict feedback nonlinear systems with unknown time‐varying parameters. Note that the recent adaptive method, that is, congelation of variables, is built upon the assumption that the known basis functions are zeros as zero states. To remove this assumption, a novel monotonically increasing function is designed to transform the
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Adaptive neural network fault‐tolerant control for uncertain non‐strict feedback nonlinear system with actuator faults and state constraints Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-09 Lei Ma, Zhanshan Wang, Chao Huang
SummaryThis article studies a neural network (NN)‐based adaptive fault‐tolerant control (FTC) scheme for uncertain non‐strict feedback systems with time‐varying state constraints and actuator faults. The introduction of asymmetric Barrier‐Lyapunov function (BLF) makes controller design more difficult due to the emergence of actuator faults and state constraints. Therefore, this article designs a fault‐tolerant
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Resilient data-driven asymmetric bipartite consensus for nonlinear multi-agent systems against DoS attacks Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-07 Yi Zhang, Yichao Wang, Junbo Zhao, Shan Zuo
In this article, we study an unified resilient asymmetric bipartite consensus (URABC) problem for nonlinear multi-agent systems with both cooperative and antagonistic interactions under denial-of-service (DoS) attacks. We first prove that the URABC problem is solved by stabilizing the neighborhood asymmetric bipartite consensus error. Then, we develop a distributed compact form dynamic linearization
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Predictive cloud control for nonlinear multiagent systems based on extended state observer and quantizers Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-04 Yan Peng, Hongjiu Yang, Chao Ge, Zheng Yao
In this article, predictive cloud control is investigated for nonlinear networked multiagent system (NMAS) with quantizers via extended state observer (ESO). Considering the network-induced delays in NMAS, the cloud control scheme is designed. Then, arbitrary region quantizers are used to decrease the quantity of data packets. Moreover, the ESO that can estimate the state and uncertainty of nonlinear
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Adaptive internal synchronization control of chaotic systems based on DNA strand displacement Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-06 Xiaoxiao Liu, Hui Lv
In the application of DNA‐based chaotic synchronization, the precise values of the system parameters are often complicated to attain due to the interference of external factors, thus weakening the performance of synchronization. In this paper, considering the case of unknown parameters in chaotic systems, a method of adaptive synchronization based on DNA strand displacement (DSD) is proposed. Firstly
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Constrained minimum variance and covariance steering based on affine disturbance feedback control parameterization Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-05 Isin M. Balci, Efstathios Bakolas
This paper deals with finite‐horizon minimum‐variance and covariance steering problems subject to constraints. The goal of the minimum variance problem is to steer the state mean of an uncertain system to a prescribed vector while minimizing the trace of its terminal state covariance whereas the goal in the covariance steering problem is to steer the covariance matrix of the terminal state to a prescribed
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Event‐triggered adaptive estimated inverse neural network control of uncertain nonlinear systems with unknown hysteresis effects Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-05 Ning Zhou, Jianyong Yao, Wenxiang Deng
This article investigates an event‐triggered adaptive estimated inverse control scheme for uncertain nonlinear systems with hysteresis effects, parametric uncertainties, and unknown disturbances. An online estimated inverse hysteresis compensation mechanism is developed, in which an adaptive technique is designed to obtain the value of unknown hysteresis parameters. Compared with common approaches
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Event‐triggered cooperative robust output regulation of minimum‐phase linear uncertain multi‐agent systems Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-05 Jieshuai Wu, Maobin Lu, Fang Deng, Jie Chen
In this article, we investigate the event‐triggered cooperative robust output regulation problem of a class of minimum‐phase linear uncertain multi‐agent systems. In particular, we first propose a dynamic event‐triggered mechanism and an event‐triggered distributed output feedback control law. Then, by the internal model, the event‐triggered cooperative robust output regulation problem is converted
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Stabilization of nonlinear stochastic systems with input and output delays via event‐triggered predictive control Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-04 Ding‐Lin Deng, Ping He, Peng Shi, Levente Kovács
The stabilization of nonlinear stochastic systems with input and output delays is investigated in this article. First, an observer that includes input delay information is designed to estimate the state information after eliminating the effect of input delay. Second, a predictive scheme with delay information is utilized to predict the system state affected by output delay, and an event‐triggered predictive
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Robust fault‐tolerant cooperative control for a class of interconnected systems with actuator faults based on dynamic event‐triggered Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-04 Ke Wang, Chao Sun, Shengjuan Huang, Libing Wu, Suhuan Yi
In this paper, the problem of fault estimation (FE) and fault‐tolerant control (FTC) for a class of systems with dynamic event‐triggered mechanism (ETM) and time delay in a network environment is studied. To shorten the time between events and minimize the amount of data transmitted, this paper introduces dynamic variables within the ETM. In order to ensure the interval between the system state and
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Iterative distributed model predictive control for nonlinear systems with coupled non‐convex constraints and costs Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-03 Jinxian Wu, Li Dai, Yuanqing Xia
This paper proposes a distributed model predictive control (DMPC) algorithm for dynamic decoupled discrete‐time nonlinear systems subject to nonlinear (maybe non‐convex) coupled constraints and costs. Solving the resulting nonlinear optimal control problem (OCP) using a DMPC algorithm that is fully distributed, termination‐flexible, and recursively feasible for nonlinear systems with coupled constraints
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LMI‐based neural observer for state and nonlinear function estimation Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-02 Woongsun Jeon, Ankush Chakrabarty, Ali Zemouche, Rajesh Rajamani
This article develops a neuro‐adaptive observer for state and nonlinear function estimation in systems with partially modeled process dynamics. The developed adaptive observer is shown to provide exponentially stable estimation errors in which both states and nonlinear functions converge to their true values. When the neural approximator has an approximation error with respect to the true nonlinear
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Event‐triggered based finite‐frequency control for vehicle electrohydraulic suspension with force tracking Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-01 Jie Zhang, Bangji Zhang, Boyuan Li, Di Dai, Nong Zhang
This study investigates the problem of event‐triggered based finite‐frequency control for vehicle electrohydraulic suspensions with force tracking. A novel hierarchical control methodology is proposed by designing event‐triggered finite frequency and active force tracking controllers to improve the suspension performance. In practical application, active suspension system can be constructed as the
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Cauchy kernel correntropy‐based robust multi‐innovation identification method for the nonlinear exponential autoregressive model in non‐Gaussian environment Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-01 Sirui Zhao, Xuehai Wang, Yage Liu
This paper discusses the identification problem of the nonlinear exponential autoregressive model in the non‐Gaussian noise environment. To suppress the negative influence caused by the non‐Gaussian noise on the accuracy of the identification, this paper employs a Cauchy kernel correntropy‐based criterion function to present a robust gradient algorithm for calculating the parameter estimates of the
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Containment control of systems with constraints and bounded disturbances Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-04-01 Jiayao Zhang, Zhi Li
This article studies the distributed containment control of a second‐order discrete‐time multi‐agent system with convex constraints on positions, nonconvex constraints on velocities, bounded disturbances on static points and switching topologies. A distributed control algorithm with disturbance information and local information is proposed. It is proved that when the static points with disturbances
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Decomposition‐based maximum likelihood gradient iterative algorithm for multivariate systems with colored noise Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-29 Lijuan Liu
SummaryIn this paper, we use the maximum likelihood principle and the negative gradient search principle to study the identification issues of the multivariate equation‐error systems whose outputs are contaminated by an moving average noise process. The model decomposition technique is used to decompose the system into several regressive identification subsystems based on the number of the outputs
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Event‐triggered differential private distributed fusion estimation for sensor networks with unknown cross‐correlations Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-29 Yuan Liang, Huiyu Sun, Yinya Li, Ye Chen, Jinliang Cong
Recently, preserving privacy and reducing energy consumption become important concerns of sensor networks. However, existing privacy‐preserving estimation methods cause many needless data transmissions, which results in energy waste. Besides, these methods generates fusion estimates with heavy computational burdens, due to needing calculating cross‐covariance matrices of each pair of local estimation
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Resilient filter design of fuzzy cyber‐physical system subject to important‐data‐based DoS attacks Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-28 Wenwen You, Xiangpeng Xie, Jianwei Xia
A serious threat to filter design is the difficulty in resisting important‐data‐based (IDB) Denial of Service (DoS) attacks. In this article, a new approach to filter design that is more relaxed and flexible in resisting IDB DoS policies is proposed. The proposed approach introduces the technique of homogeneous polynomials to develop a more general relaxed fuzzy filter design that can reduce conservatism
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Exponential stability of fractional‐order uncertain systems with asynchronous switching and impulses Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-28 Jinsen Zhang, Xiaobing Nie
Different from the Mittag–Leffler stability or asymptotic stability, the exponential stability issue, which provides faster and explicit convergence rate, is studied in this paper for fractional‐order uncertain systems with asynchronous switching and impulses, where the impulsive functions rely on not only switching modes but also impulsive time. Instead of using the inequality , by utilizing the theory
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Output feedback H∞ control of linear systems with infinite distributed input delays Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-26 Qianghui Zhou, Lu Liu, Gang Feng
This article investigates the output feedback control problem of linear systems with infinite distributed input delays. An observer-based output feedback (OBOF) controller is proposed via the predictor feedback approach, and a sufficient condition for the existence of the OBOF controller is given in terms of a set of linear matrix inequalities. It is shown that the resulting closed-loop system is globally
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Observer‐based event‐triggered H∞$$ {H}_{\infty } $$ control of networked switched systems under hybrid attacks Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-27 Zhigang Zhang, Jinhai Liu, Shuo Zhang, Hongfei Zhu
This article is concerned with the issue of observer‐based event‐triggered control for networked switched systems (NSSs) under hybrid attacks. Since hybrid attacks can cause more damage to the system than a single cyber attack, this article considers a situation where stochastic deception attacks and aperiodic denial‐of‐service (DoS) attacks coexist in NSSs. To address this issue, the dynamics of the
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Controller synthesis against omega‐regular specifications: A funnel‐based control approach Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-26 Pushpak Jagtap, Dimos V. Dimarogonas
The paper focuses on the problem of formal synthesis of controllers for control‐affine nonlinear systems against complex properties. Our goal is to design a closed‐form control policy that guarantees the satisfaction of complex properties that are expressed using ()‐regular languages and equivalently recognized by nondeterministic Büchi automata (NBA). We propose leveraging a funnel‐based control approach
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CBF‐guided iterative learning control performance optimization for switched systems Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-25 Xuanhe Lu, Yiwen Qi, Ziyu Qu, Shitong Guo
This article studies the control barrier function (CBF) guided tracking performance optimization for switched systems under iterative learning control (ILC). CBF is an effective method for handling control system state safety. If the safe set is designed as expected performance, and the unsafe set is not expected, then this may be a good choice for optimizing control system performance. We propose
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Control of coupled nonaffine multiagent stochastic systems by classical PID Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-19 Shuo Yuan
The classical PID (proportional-integral-derivative) control is the most basic and widely used control algorithm in engineering systems by far. Whether PID control can effectively deal with coupled multiagent uncertain nonlinear dynamics is well worth investigating. In this article, a class of PID controlled multiagent stochastic systems with coupled uncertain dynamics is considered, where the control
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Fixed-time sliding mode consensus tracking for second-order nonlinear multi-agent system with persistent dwell-time switching topologies Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-20 Haitao Wang, Qingshan Liu
This article investigates the problem of fixed-time sliding mode consensus tracking for nonlinear second-order multi-agent system, in the presence of disturbances and actuator attacks. The interaction topology graph of multi-agent system is directed and switched, and the switching topologies satisfy a more general persistent dwell-time switching mechanism. To account for the disturbances, actuator
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Robust interval predictive tracking control for constrained and perturbed unicycle mobile robots Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-20 Héctor Ríos, Manuel Mera, Tarek Raïssi, Denis Efimov
In this paper, we propose the design of a robust control strategy for the trajectory tracking problem in perturbed unicycle mobile robots. The proposed strategy comprises the design of a robust control law, which is based on an Integral Sliding-Mode Control (ISMC) approach together with an interval predictor-based state-feedback controller through a Model Predictive Control (MPC) scheme. The robust
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Switching-like event-triggered tracking control for UAH/UGV systems under external disturbance and DoS attacks Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-18 Haoran Zhang, Shihao Pan, Tao Li, Zehui Mao
In this article, by considering the existence of unavailable state, external disturbance, and denial of service (DoS) attacks, an anti-disturbance trajectory tracking controller is proposed for the air-ground system composed of unmanned autonomous helicopter (UAH) and unmanned ground vehicle (UGV). Initially, by combining the advantages of conventional event-triggered scheme (ETS) and memory ETS, a
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Fixed‐time Synchronization of Stochastic Kuramoto‐Oscillator Networks With Switching Topology Under Dynamic Event‐triggered Scheme Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-22 Yuanda Wang, Jia Sun, Yongbao Wu, Lei Xue, Jian Liu
This paper proposes a dynamic event‐triggered fixed‐time control scheme for the phase synchronization of Kuramoto networks with switching topology and stochastic coupling noise. To deal with the problems of switching topology and stochastic coupling noise, a multilayered control structure with a specially designed noise reduction layer is developed. The effectiveness is proved based on stochastic differential
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Detection‐based compound event‐triggered secure control for nonlinear multiagent systems Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-22 Tianfei Zhu, Liang Cao, Hongru Ren, Hong Xue
SummaryThis paper designs a distributed dynamic‐detection‐based event‐triggered control method to address the secure tracking control problem. A distributed online iterative dynamic detection mechanism is designed to detect denial‐of‐service (DoS) attacks. The detection results are transmitted into a proposed ET method to adjust the triggering threshold, which can mitigate the impact of DoS attacks
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Hierarchical estimation methods based on the penalty term for controlled autoregressive systems with colored noises Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-22 Huanqi Sun, Weili Xiong, Feng Ding, Erfu Yang
This article considers the parameter estimation problems for the controlled autoregressive systems interfered by moving average noises. A recursive extended gradient algorithm with penalty term is proposed by using the penalty criterion function. By introducing three fictitious output variables, the original system can be decomposed into three subsystems based on the hierarchical principle. The hierarchical
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Combined longitudinal and lateral dynamics regulation of autonomous vehicles via induced ℒ2$$ {\mathcal{L}}_2 $$‐gain linear parameter varying control strategies based on parameter‐dependent Lyapunov functions Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-21 Gianfranco Gagliardi, Vincenzo D'Angelo, Alessandro Casavola
This article considers a path tracking control problem for autonomous vehicles constrained to maintain a safe distance from the next vehicle in the lane. The control design problem is solved by considering a mathematical model of the vehicle that jointly describes the lateral and longitudinal dynamics. Specifically, the optimal controller is designed aimed at minimizing the orientation and position
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Robust consensus tracking of one‐sided Lipschitz nonlinear multi‐agent systems under structured uncertainty and time‐varying delay Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-21 Yanzhou Li, Yuanqing Wu, Siqin Liao
This article delves into the intricate matter of achieving robust consensus tracking of multi‐agent systems with structured uncertainty, one‐sided Lipschitz nonlinearity and time‐varying delay. It is important to note that the time delay is both time‐varying and bounded. To solve the consensus tracking problem of multi‐agent systems, we transform it into the stability problem of an error system. Then
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Sampled‐data‐based disturbance compensation distributed optimization control for a class of multi‐agent systems Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-21 Ruonan Yuan, Zhi‐Liang Zhao, Sen Chen, Tianyou Chai
This article investigates the distributed optimization feedback control for a family of multi‐agent systems with external disturbances. For physical implementation in the scenario that only the sampled‐state information is available, a novel disturbance compensation distributed optimization control strategy is proposed by designing a sampled‐data‐based distributed protocol and a sampled‐data‐based
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Exponential stability of delayed discrete‐time systems with averaged delayed impulses Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-21 Bin Sun, Yu Zhang
This article investigates the exponential stability of nonlinear discrete‐time systems with time‐varying state delay and delayed impulses, where the delays in impulses are not fixed. Specifically, the study is separated into two cases: (1) stability of delayed discrete‐time systems with destabilizing delayed impulses, where the time delays in impulses can be flexible and even larger than the length
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Optimal sequential fusion estimation for sampled‐data systems with random delays and multiplicative noise Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-21 Wei Wang, Chunyan Han, Lifeng Ma, Xiaojian Yi
This article is concerned with the optimal sequential fusion filter design issue for a class of sampled‐data systems subject to random transmission delays and multiplicative noise. The considered delay is modeled as a multistate Markov chain, while the multiplicative noise corrupting the observation measurements is assumed be a white noise sequence with known statistical properties. First, by reorganizing
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Partial‐node‐based resilient set‐membership filtering for output‐coupled complex networks with event‐triggered mechanisms Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-20 Ming Lin, Qi Shen, Chang Liu, Hui Peng, Yong Xu
This paper studies the resilient set‐membership filtering for discrete‐time nonlinear complex networks with output‐coupled topologies. An event‐triggered mechanism (ETM) is employed to save communication resources from the sensor to the filter. A resilient set‐membership filter (RSMF) handles unknown bounded uncertainty, resists the gain perturbation and makes the estimation errors to a certain ellipsoid
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Distributed observer‐based containment control for unknown time‐varying P‐normal nonlinear multiagent systems Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-20 Liuliu Zhang, Songsong Liu, Changchun Hua, Choon Ki Ahn
This work investigates the containment control for unknown time‐varying p‐normal (TVP) nonlinear multiagent systems (MASs) under directed topology. First, by innovatively constructing the dynamic update law in the distributed observer design process, the corresponding virtual leader trajectory can be accurately estimated at an exponential rate. Subsequently, the containment problem of MASs is transformed
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Model‐free learning‐based distributed cooperative tracking control of human‐in‐the‐loop multi‐agent systems Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-19 Di Mei, Jian Sun, Yong Xu, Lihua Dou
This article studies the model‐free learning‐based distributed cooperative tracking control of human‐in‐the‐loop multi‐agent systems in the presence of an active leader. The core role of human‐in‐the‐loop is to use the ground station to send control commands to the non‐zero control input of the leader, and then directly or indirectly control a group of agents to complete complex tasks. Meanwhile, three
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Robust stabilization of polytopic systems via fast and reliable neural network-based approximations Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-17 Filippo Fabiani, Paul J. Goulart
We consider the design of fast and reliable neural network-based approximations of traditional stabilizing controllers for linear systems with polytopic uncertainty, including control laws with variable structure and those based on a (minimal) selection policy. Building upon recent approaches for the design of reliable control surrogates with guaranteed structural properties, we develop a systematic
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Event-triggered control of switched linear systems with state-dependent switching law and unstabilizable modes Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-17 Ze-Hong Zeng, Yan-Wu Wang, Xiao-Kang Liu, Zhi-Wei Liu
This paper studies the event-triggered control of switched linear system with state-dependent switching law. A dynamic term is introduced to the switching law to acclimatize the dynamic mode-dependent event-triggered controller. Besides, neither the switching law nor the controller needs continuous detection of the system states. Because of the event-triggered and sampling behavior of the controller
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Some mathematical characteristics in sparse control for linear time‐varying systems Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-18 Heng Mai, Zhaoyang Yin
SummaryThe existence, solution structure, and equivalence of sparse control for linear time‐varying systems are investigated. We proved the existence of the optimal solution of sparse control for the linear time‐varying systems. By using the non‐smooth maximum principle, we are given the necessary conditions for the sparse control optimality for linear time‐varying systems. We proved that the optimal
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Prescribed-time global stabilization for MIMO nonlinear systems with a linear time-varying control mechanism Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-14 Wenli Zhang, Xiaoping Liu, Yuanwei Jing
In this article, the prescribed-time global stabilization problem is taken into consideration when it comes to multi-input-multi-output (MIMO) systems with unknown mismatched coupling nonlinear items. It is assumed that the unknown nonlinearities satisfy the linear growth conditions. First, a class of MIMO coupling nonlinear systems with controllable canonical form are considered. Then, by wielding
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Prescribed-time constrained tracking control of a class of 2 × 2 hyperbolic PDE systems with actuator dynamics Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-13 Yu Xiao, Xiaodong Xu, Stevan Dubljevic
This article studies the problem of prescribed-time constrained tracking control for a class of 2×2$$ 2\times 2 $$ hyperbolic partial differential equation (PDE) systems with actuator dynamics, which are described by a set of nonlinear ordinary differential equations (ODEs). Since the control input only appears in the ODE subsystem rather than directly on the boundary of PDE subsystem, the control
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Simple robust PD control for asymptotic stabilization of uncertain spacecraft with actuator constraints and disturbances Int. J. Robust Nonlinear Control (IF 3.9) Pub Date : 2024-03-16 Yuxin Su, Chunhong Zheng
This paper concerns the problem of asymptotic attitude stabilization for uncertain spacecraft subject to actuator constraints and bounded external disturbances. A simple model‐free saturated robust PD control is proposed within the framework of PD design methodology combining sliding mode control strategy. Asymptotic stabilization stability is proved in terms of Lyapunov's direct method and Barbalat's