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The Impact-point Prediction of Projectile for Moving Tank Based on Adaptive Robust Constraint-following Control Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-04-25 Cong Li, Xiuye Wang, Guolai Yang, Yuze Ma
To improve the hit probability of tank firing at high speed, an adaptive robust control strategy considering the exterior ballistic process is proposed based on constraint-following control, which is used to predict the impact point of projectile. First, the rigid-flexible coupling multibody system dynamics model of moving tank is constructed with nonlinear factors and uncertainty such as the flexible
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Two-stage Active Disturbance Rejection Control for Coupled Permanent Magnet Synchronous Motors System With Mismatched Disturbance Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-04-25 Chunmei Pu, Zhanshan Wang, Shuran Wang
In this paper, the design method of active disturbance reject control (ADRC) is revisited for coupled Permanentmagnet synchronous motors (CPMSMs) system with mismatched disturbance conditions. The traditional ADRC is not applicable in the case of mismatched disturbances, because it requires the controlled object have a strict integral chain form. In addition, the coupled permanent magnet synchronous
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Event-triggered Synchronization for Second-order Linear Systems in Complex Dynamical Network With Time-varying Topology Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-04-25 Li Yan, Hao Dai
In this paper, the event-triggered synchronization of second-order linear systems in complex dynamical networks (CDNs) with time-varying topology is addressed. In order to guarantee the CDNs under cooperatively directed spanning tree (CDST) topology can achieve exponential synchronization, an important synchronization condition is obtained with the help of graph theory, matrix inequalities and Lyapunov
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Robotic High-precision Collision Detection and Force Estimation Under Unknown Load Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-04-25 Yu Du, Hongxiang Song, Dong Liu, Ming Cong, Jingyuan Wu, Xiaojing Tian
Collision detection is a fundamental problem in the field of human-machine interaction. Inaccurate robotic models caused by unknown loads significantly impact the sensitivity of collision detection and can even result in algorithm failures. This study proposes a collision detection method, inspired by the concept of “interference cancellation” in communication, to overcome the limitations of existing
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Compensation-based Characteristic Modeling and Tracking Control for Electromechanical Servo Systems With Backlash and Torque Disturbance Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-04-25 Xiang Wang, Hanzhong Liu, Jiali Ma, Yang Gao, Yifei Wu
For two-inertia servo mechanisms, the high order, backlash nonlinearity and external disturbance make the precise modeling and control difficult to implement. This article provides an easily implemented modeling and control strategy to deal with this problem. A characteristic modeling framework of disturbed nonlinear systems is proposed. To restrain the modeling error, the backlash nonlinearity and
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Observer-based Fixed-time Output Feedback Control for Flexible-joint Manipulators via Improved Command-filtered Backstepping Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-04-17 Shengxuan Fan, Hengheng Liu, Senping Tian, Panpan Gu
In this paper, an observer-based fixed-time output feedback control method for flexible-joint manipulators is proposed. First, a novel extended-state observer is designed to estimate unmeasurable states and lumped disturbances exactly in a fixed time, and the chattering phenomenon caused by discontinuous terms is reduced to a considerable extent by adding the order of observer by one. Then, a novel
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Quasi-time-dependent H∞ Control for Discrete-time Switched Systems With Time-varying Delay and Unstable Modes Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-04-17 Xiaomin Liu, Baowei Wu, Yue-E Wang, Lili Liu
The issues of stability, l2-gain analysis and H∞ control are addressed for a class of discrete-time switched systems subject to time-varying delay and unstable modes in this paper. To solve the problems, firstly, a hybrid mode-dependent average dwell time (HMDADT) switching strategy is designed by combining slow/fast switching strategy to cope with stable and unstable modes. And improved reciprocally
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Analysis of Bandwidth Expansion and Interference Suppression of Digital Hydraulic Cylinder System Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-04-08 Hui Yu, Hui Wang, Chenguang Guo
This paper concentrates on digital hydraulic cylinder systems’ interference suppression and bandwidth expansion problems. The goals are to ensure the system’s stability and improve the rapid response-ability. First, a non-linear dynamics is used instead of linearization to formulate the plan. Then, considering the serious measurement noise of the load acceleration signal and the mismatching uncertainties
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Global Output Feedback Stabilization for Switched Nonlinear Systems Under Arbitrary Switching Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-04-08 Shuyan Zhan, Xianglei Jia, Chengdi Xiang
Global stabilization of a class of switched nonlinear systems with unknown arbitrarily switched output function is achieved via output feedback. A couple of improved high-gain observer and output feedback control law are proposed by using dual high-gain scaling technique. In the presence of non-differentiable output function, a common dynamic output feedback controller is established, where a generalized
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The Relationship Between Augmented Lyapunov-Krasovskii Functionals and Estimated Inequalities Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-04-08 Daixi Liao, Shouming Zhong, Jun Cheng, Kaibo Shi, Shaohua Long, Can Zhao
Different estimated inequalities and augmented Lyapunov-Krasovskii functionals (LKFs) play important role in assessing the stability of time-delay systems. In this technical note, three categories of estimated inequalities are introduced, in which either all matrices, some matrices or no matrices are free. Then, the internal relationship among the three categories of estimated inequalities is fully
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MPC-based Lateral Motion Control for Autonomous Vehicles Through Serially Cascaded Discretization Method Considering Path Preview Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-04-08 Guozhu Zhu, Hao Jie, Zekai Zheng, Weirong Hong
Autonomous vehicles have gained popularity over the past few years. In this paper, an MPC-based lateral motion controller for autonomous vehicles through serially cascade discretization method is developed. A single discretization method in the entire prediction horizon is usually adopted in MPC. This article seeks to cascade discretization methods of different levels of precision within a single prediction
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Virtual-leader Split/Rejoin-based Flocking Control With Obstacle Avoidance for Multi-agents Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-04-08 Jianhui Wu, Yuanfa Ji, Xiyan Sun, Weibin Liang
In the research of flocking control algorithm with obstacle avoidance, the constraints of obstacle information, shape and boundary limit their practical applications. To relax these constraints, we assume that the agent can only perceive the position of static obstacle boundary points within its sensing radius, and propose a virtual-leader split/rejoin-based flocking control algorithm with obstacle
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On Scheduled Space-Time Convergence: Sliding Mode Control Through the Scheduled Time Function Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-04-08 Weixiang Liu, Yutong Sun, Haifeng Ma, Zhenhua Xiong, Zhanqiang Liu, Yangmin Li
Previous researches on sliding mode control focus on the time or space domain, regardless of the combination of the two domains. This paper presents a new scheduled space-time barrier sliding mode control (SSTBSMC) scheme for disturbed systems. The SSTBSMC scheme is established based on the designed scheduled time function (STF). One uniqueness of the proposed scheme lies in that it ensures the scheduled
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Reinforcement Q-learning and Optimal Tracking Control of Unknown Discrete-time Multi-player Systems Based on Game Theory Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-04-08 Jin-Gang Zhao
This paper studies the fully cooperative game tracking control problem (FCGTCP) for a class of discrete-time multi-player linear systems with unknown dynamics. The reference trajectory is generated by a command generator system. An augmented multi-player systems composed of the origin multi-player systems and the command generator system is constructed, and an exponential discounted cost function is
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Quadrupedal Locomotion in an Energy-efficient Way Based on Reinforcement Learning Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-04-08 Tiantian Hao, De Xu, Shaohua Yan
Achieving energy-efficient motion is important for the application of quadruped robots in a wide range. In this paper, we propose a hierarchical control framework that combines reinforcement learning and virtual model control to achieve energy-efficient motion with a planned gait. A reinforcement learning network is designed to learn the policy that maps the state of the robot to the action. The action
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Decentralized Position/torque Control of Modular Robot Manipulators via Interaction Torque Estimation-based Human Motion Intention Identification Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-04-08 Yuexi Wang, Tianjiao An, Yiming Cui, Yuanchun Li, Bo Dong
For the application background of physical human robot interaction (pHRI), a novel decentralized position/torque control scheme of modular robot manipulators (MRMs) is developed based on the human motion intention identification in this investigation. Different from traditional control schemes which are oriented to pHRI tasks depending on the biological signal or the multisensory, the developed decentralized
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A Theoretical Conversion of Torque Controllers for Handling a Position Servo-actuated Robot Manipulator Model Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-04-03 Gabriela Zepeda, Rafael Kelly, Carmen Monroy
Traditional robot control theory assumes implicitly that robot manipulators are equipped with ideal torque actuators (i.e., torque-driven robots). However, it is important to note that both industrial robots and economical didactic ones do not typically feature such torque actuators. In contrast, many robotics laboratories engaged in academic and research activities employ robots equipped with position
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A Novel Approach to Coupling Terms to Avoid Obstacles in a Manipulator Movement Reproduction Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-04-03 Byung Su Kim, Min Cheol Lee
Many people have attempted to generate specific movements based on the concept that neural networks in the brain and spinal cord create multiple sets of temporal templates. Dynamic movement primitives (DMPs) are inspired by the motion control of biological systems and can be mathematically represented as stable nonlinear dynamic systems in the form of motion primitives. One way to improve the work
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A Fault-tolerant Synchronous Sliding Mode Control for a 4-DOF Parallel Manipulator With Uncertainties and Actuator Faults Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-04-03 Duc Thien Tran, Nguyen Thanh Nha, Ngo Van Thuyen, Le Hoang Lam, Kyoung Kwan Ahn
This paper proposes a novel fault-tolerant synchronous sliding mode control for a 4-DOF parallel manipulator against uncertainties such as modelling error and actuator faults. The proposed control is developed with the consensus approach, sliding mode control, and extended state observer to manage the tracking objective and guarantee the synchronous requirements. The consensus approach combines the
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Practical Tracking Control for High-order Nonlinear Systems With Dynamic Uncertainties and Unknown Powers via Event-triggered Mechanism Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-03-20 Jiling Ding, Weihai Zhang, Junsheng Zhao
This paper studies the problem of output regulation for a class of high-order nonlinear systems with dynamic uncertainties and unknown powers. Based on the characters of input-to-state stable Lyapunov function and the technique of changing supply rate, a partial-state feedback controller is designed under event-triggered mechanism framework. In the proposed control law, an adaptive dynamic gain is
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A Real-time Path Planning Algorithm for Mobile Robots Based on Safety Distance Matrix and Adaptive Weight Adjustment Strategy Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-03-20 Xinpeng Zhai, Jianyan Tian, Jifu Li
The fusion of the A* and the dynamic windowing algorithm is commonly used for the path planning of mobile robots in dynamic environments. However, the planned path has the problems of redundancy and low security. This paper proposes a path planning algorithm based on the safety distance matrix and adaptive weight adjustment strategy to address the above problems. Firstly, the safety distance matrix
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Robust Control for Bidirectional Stabilization System With Time Delay Estimation Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-03-20 Shu-sen Yuan, Wen-xiang Deng, Jian-yong Yao, Guo-lai Yang
In this paper, to address the problem of high precision tracking control for bidirectional stabilization system of marching all-electric tank, a continuous nonsingular terminal sliding mode (CNTSM) control method combined with time delay estimation (TDE) technique is presented. First, the nonlinear mathematical model of the bidirectional stabilization system with consideration of actuator dynamics
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H∞ Exponential Synchronization of Switched Cellular Neural Networks Based on Disturbance Observer-based Control Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-03-20 Linlin Hou, Pengfei Ma, Xuan Ma, Haibin Sun
The problem of H∞ exponential synchronization for switched cellular neural networks that are subjected to multiple exogenous disturbances is investigated. The exogenous disturbances are rejected and attenuated by combining disturbance observer-based control with H∞ control. Based on the admissible edge-dependent average dwell time scheme and the Lyapunov-Krasovskii functional technique, a synchronization
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Variable Impedance Control for a Single Leg of a Quadruped Robot Based on Contact Force Estimation Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-03-20 Yanan Fan, Zhongcai Pei, Zhiyong Tang
A quadruped robot interacts with the ground during the stance phase. This interaction will have a great impact on the feet, torso and joints of the robot, thus affecting the stability of its movement and reducing its adaptability in complex environments with features such as uneven terrain. The contact between each foot of the quadruped robot and the ground should not only control the movement trajectory
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Nonlinear Robust Adaptive Control of Electro-hydrostatic Actuators With Continuous Friction Compensation Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-03-20 Jiahui Liu, Jianyong Yao, Wenxiang Deng
Electro-hydrostatic actuators (EHAs) have gradually been applied in the flight control systems of multi-electric/all-electric aircraft due to the high power-to-volume ratio and the absence of throttling loss as well as overflow loss. However, the existence of high-order dynamics, system nonlinearities, and uncertainties significantly limits the tracking performance of EHAs. This article developed a
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Noise and Interference Suppression Control Method of DC-DC Buck Converters Based on Cascaded Filter LADRC Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-03-20 Yufang Chang, Feifei Zhou, Huaicheng Yan, Wencong Huang, Guoao Luo
Due to the high gain characteristics of the extended state observer (ESO), ADRC technology will be affected by high-frequency measurement noise in the buck circuit, the traditional method of using low-pass filters to filter the output signal will cause loss of amplitude and phase. A novel DC-DC buck noise and disturbance rejection control method based on a filter cascade-based linear active disturbance
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Robust Fault Detection Scheme for Asynchronous Switched Systems via Sliding Mode Observer Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-03-20
Abstract This work studies the fault detection problem for continuous-time asynchronous switched systems. For residual signal generation, we design a fault detection sliding mode observer such that residual characterizes the fault sensitivity level by H_ performance, and its robustness to process disturbance is determined by H∞ performance. Specifically, the challenge entails addressing the phenomenon
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Fault-tolerant Trajectory Tracking Control Based on DDPG Algorithm for Underwater Vehicle With Propeller Faults Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-03-20
Abstract Due to the complexity of the underwater vehicle itself and its operating environment, it is difficult for fault detection and diagnosis (FDD) unit to obtain accurate fault information in time, which brings difficulties to the implementation of subsequent fault-tolerant control (FTC). Aiming at this question, a novel FTC method is proposed in this paper, which does not rely on FDD units and
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A Novel Rate-dependent Direct Inverse Preisach Model With Input Iteration for Hysteresis Compensation of Piezoelectric Actuators Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-03-20 Yutong Sun, Haifeng Ma, Yangmin Li, Zhanqiang Liu, Zhenhua Xiong
This paper proposes the design and validation of a novel rate-dependent direct inverse Preisach model with input iteration (RDIPMII) dedicated to feedforward compensation of hysteresis nonlinearity in piezoelectric actuators (PEAs). Unlike existing similar works, the proposed RDIPMII avoids deriving the parameters of the inverse compensator from the hysteresis model, and could be directly employed
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Group-aggregation of Hierarchical Containment Control for Homogeneous Multi-agent Systems in Precision Agriculture Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-03-20 Jingshu Sang, Dazhong Ma, Xiangpeng Xie, Xuguang Hu
The mixed planting, as one of the diversification strategies, provides the substitute for many costly inputs, such as fertilizers, pesticides, imported pollinators and irrigation. However, the lack of the farming technology and the expansion of the farming scale have resulted in extremely mismatch between desired yield and manpower. This paper considers groups of agents orderly moving into precise
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Cascade Antidisturbance Control of Hydraulically Driven Bipedal Robots for High Dynamic Locomotion by Using Model Prediction and Task Hierarchical Optimization Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-03-20 Jie Huang, Huajie Hong, Nan Wang, Hongxu Ma, Honglei An, Lin Lang
The development of hydraulically driven heavy legs that can withstand external interference for realizing the high-velocity dynamic walking of bipedal robots with eight degrees-of-freedom is challenging. Therefore, in this study, a cascade antidisturbance algorithm was proposed for highly dynamic trajectory tracking based on model prediction and task hierarchical optimization. First, in the upper layer
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Dynamic Event-triggered Distributed Observer Based Output Regulation of Heterogeneous Multi-agent Systems Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-03-20 Kairui Chen, Zhangmou Zhu, Xianxian Zeng, Jianhui Wang
In this paper, the output regulation problem for heterogeneous linear multi-agent systems is investigated, where each agent suffers from the detectability deficiency problem. Specifically, each agent has access to only partial output information of the exosystem, which bring about challenges to estimate full states of the exosystem. By using the observability decomposition technique, unobservable states
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Robust Output Tracking Control of Uncertain Nonaffine Systems With Guaranteed Tracking Error Bounds Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-03-20 Zhixiang Chen, Wenyan Bai, Lingjian Kong
This paper considers the output tracking problem for uncertain nonaffine systems. A robust output tracking controller for a class of uncertain nonaffine strict-feedback systems with guaranteed tracking error bounds is proposed. First, a diffeomorphism is employed to convert the strict-feedback nonaffine system with mismatched uncertainties into a feedback linearization nonaffine system (FLNS). Second
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Finite-time Secondary Frequency Modulation of Microgrid Based on Event Triggering Mechanism Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-03-20 Chenglong Zhou, Ze Li, Guozeng Cui, Yifan Chen, Wangjun Hao
This paper designs a ratio consistency algorithm based on event triggering mechanism aiming at the frequency recovery deviation caused by traditional droop control in microgrid. It achieves secondary frequency modulation in microgrid by adjusting the active power setting value. The max-min consistency algorithm is proposed to realize asymptotic consistency of distributed power supply in a finite time
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Time-optimal and Smooth Trajectory Planning for Multi-axis Motion Systems Based on ISC Similarity Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-03-20
Abstract Aiming at time-optimal smooth trajectory planning for multi-axis motion systems, this paper proposes a planning algorithm based on improved sqrt-cosine (ISC) similarity in the phase plane. The improved sqrt-cosine similarity algorithm and the kinematic constraint of the interpolated trajectories are used to find the time-optimal smooth trajectory. In the proposed algorithm, the trajectory
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Multicriteria Pole Clustering and H2/Hinf Control of Regular Singular System Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-03-12 Zied Tmar, Kamel Ben Slimane, Mongi Besbes
In this paper, a multicriteria control combining H2/Hinf techniques, and pole clustering under strict linear matrix inequalities (LMI) solving is considered to achieve the design of a static state feedback controller. This robust control targets regular singular systems subject to uncertainties. We have studied the D-admissibility of a pencil matrix, which is an extension of D-stability concept to
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Interval Observer Design for Nonlinear Interconnected Systems via Ellipsoid Approach Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-03-01
Abstract In this paper, an interval observer is designed for discrete time-varying nonlinear interconnected systems in which the estimated state set is described by using an ellipsoid. The state estimation accuracy is improved by expressing the higher-order infinitesimal terms of nonlinear Taylor expansion with ellipsoids instead of disregarding them. In order to reduce the communication burden, the
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Stabilization of an Uncertain Maglev Train System Using Finite Time Adaptive Back-stepping Controller Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-03-01
Abstract In this paper, we have presented an adaptive controller for a class of nonlinear systems. The proposed control law includes some terms to eliminate nonlinear parts. Also, an adaptive term is considered dealing with the uncertainties of the system. This controller is designed in several steps by establishing the finite time stability condition. Finite time stability of the each step is proved
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Containment Control of Heterogeneous Liner Singular Multi-agent Systems by Distributed Event-triggered Control Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-03-01 Jie Gao, Yuming Chen, Fei Yun
Abstract This paper investigates the containment control of heterogeneous linear singular multi-agent systems (MASs) by distributed event/self-triggered control strategy. Firstly, a novel distributed observer is designed to estimate the convex combination of the leaders’ states. Then, a state-feedback controller and an output-feedback controller based on the realtime updating strategy are proposed
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Maritime Targets Tracking in Heavy-tailed Clutter With Unknown and Time-varying Density Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-02-14 Liwei Shi, Yu Kuang, Miaomiao He
In order to solve the problem of maritime targets tracking in heavy-tailed sea clutter with unknown and time-varying clutter density, a multi-scan clutter sparsity estimator based amplitude-aided probability hypothesis density (MCSE-APHD) method is proposed in this paper. Firstly, the proposed method eliminates the target-originated measurements from multi-scan cumulative measurement set and estimates
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Modeling and Simulation of Active Half-vehicle Suspension Based on a New Output-feedback H∞ Controller Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-02-08 Chunyu Wei
The excellent performance of the controller and its insensitivity to time-delay are very important for active suspension. In this paper, a novel output-feedback H∞ optimal controller is designed for half-vehicle suspension system and it performs better than the common output-feedback H∞ optimal controller. To further study the effect of time-delay on the performance of the controller, a visual modeling
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A Path Planning Method for Unmanned Surface Vessels in Dynamic Environment Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-02-08 Jiabin Yu, Zhihao Chen, Zhiyao Zhao, Jiping Xu, Yang Lu
A path planning method for unmanned surface vessels (USV) in dynamic environment is proposed to address the impact of dynamic environments on path planning results and the lack of dynamic obstacle avoidance capabilities. First, the considering ocean current rapidly exploring random tree (RRT*) (COC-RRT*) algorithm was proposed for global path planning. The RRT* algorithm has been enhanced with the
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Hedonic Coalition Formation for Distributed Task Allocation in Heterogeneous Multi-agent System Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-02-08 Lexing Wang, Tenghai Qiu, Zhiqiang Pu, Jianqiang Yi, Jinying Zhu, Wanmai Yuan
Due to the complexity of tasks in the real world, multiple agents with different capabilities tend to cooperate to handle diverse requirements of these tasks by forming coalitions. To solve the problem of finding optimal heterogeneous coalition compositions, this paper proposes a novel distributed hedonic coalition formation game method to solve the task allocation problem for multiple heterogeneous
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Collaborative Optimization Design of Event-based Asynchronous Filter for Discrete-time T-S Fuzzy Markov Jump Systems Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-02-08 Huiying Chen, Zheng-Guang Wu, Weifeng Xia, Zuxin Li
This article is primarily concerned with the collaborative optimization design issue of the asynchronous filter and the event-based trigger for discrete-time nonlinear Markov jump systems modeled by the Takagi-Sugeno fuzzy model. In the network environment, an event-based trigger is introduced to reduce communication consumption while the hidden Markov model approach is utilized to express the asynchronous
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Event-triggering Formation Control for Second-order Multi-agent Systems With Sampled Position Data Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-02-08 Jing Liu, Zhen Li, Jia-Bao Liu, Jian-an Fang
This paper addresses the problem of event-triggering formation control (ETFC) for second-order multi-agent systems (MASs) with sampled position data. Firstly, two types of distributed control strategies based on the sampled position data are proposed to solve the observer-based formation control problems. These novel formation control strategies allow the event-triggering conditions to be intermittently
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An Improved Dynamic Window Path Planning Algorithm Using Multi-algorithm Fusion Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-02-08 Rui Zhou, Kun Zhou, Lina Wang, Binrui Wang
Aiming at the problems of poor adaptability of traditional dynamic window algorithms and difficult to quickly and effectively plan paths in the face of complex obstacles such as spiral obstacles and narrow obstacles, we propose an improved dynamic windows approach path planning algorithm based on A* algorithm and artificial potential field method fusion. Firstly, we improve the security constraints
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Distributed Formation Control for Multiple Quadrotor UAVs Based on Distributed Estimator and Singular Perturbation System Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-02-08
Abstract In this paper, the leader-follower distributed formation control of quadrotor unmanned aerial vehicles (UAVs) with communication constraints is studied, in which the leader’s information can only be obtained by one follower quadrotor UAV. To make every follower quadrotor UAV get the leader’s information, a distributed estimator was designed for each follower to estimate the leader’s information
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Set-membership Estimation for Event-triggered 2-D Systems Based on Zonotopes Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-02-08 Xudong Wang, Liu Yang, Jitao Li, Guoqi Wang
This article discusses the interval estimation for 2-D systems in Roesser model with amplitude-bounded environmental disturbance and measurement noise. To save the limited capacity of communication network, an event-triggered communication strategy is adopted to reduce the amount of packets transmitted through the network. Considering the amplitude-bounded uncertainties, an observer design criterion
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UDE-based Nonlinear Path-following Control of Autonomous Underwater Vehicles With Multiple Uncertainties and Input Saturation Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-02-08 Jianming Miao, Xingyu Sun, Kankan Deng, Xi Gong, Chao Peng, Tao Liu, Haosu Zhang
This paper proposes a novel UDE-based nonlinear path-following (PF) control scheme for the underactuated autonomous underwater vehicle (AUV) with multiple uncertainties and input saturation. Firstly, to overcome the drawback of dependence on the accurate mathematical model, the unknown time-varying sideslip angular speed in the error dynamic model is treated as kinematic uncertainty, and the linear
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Suboptimal Relational Tree Configuration and Robust Control Based on the Leader-follower Model for Self-organizing Systems Without GPS Support Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-02-08 Zhi-gang Xiong, Ya-Song Luo, Zhong Liu, Zhi-kun Liu
This paper surveys the formation acquisition and maintenance of multi-agent systems, while the communication graph is obtained without human designations. Given that all agents move along unpredictable paths during formation acquisition, the systems adopt the leader-follower model. For better expression of the graph construction, a relational tree is introduced to describe the follower-leader pairs
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Planning and Execution of Dynamic Whole-body Locomotion for a Wheeled Biped Robot on Uneven Terrain Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-02-08 Yaxian Xin, Yibin Li, Hui Chai, Xuewen Rong, Jiuhong Ruan
To improve the adaptability of the wheeled biped robot (WBR) to uneven terrain, firstly an integrated modeling method for wheeled-legs is proposed. The under-actuated part is effectively restrained by defining the interaction force between the WBR and the trunk. The mapping relationship between the wheeled leg’s end force and the joint torques in the balanced state is built. Based on this premise,
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Precise Cutterhead Clogging Detection for Shield Tunneling Machine Based on Deep Residual Networks Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-02-08
Abstract During the construction process of tunnels, the cutterhead of shield tunneling machines may get clogged due to clay adhesion, which may seriously affect the efficiency of the project. Therefore, finding an intelligent diagnosis method to detect the clogging status is of great importance. In this study, a deep residual network-based method for diagnosing cutterhead clogging on shield tunneling
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Stochastic Consensus for Heterogeneous Multi-agent Networks With Constraints and Communication Noises Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-02-08 Haokun Hu, Lipo Mo, Fei Long
The mean-square consensus of the discrete-time heterogeneous multi-agent systems (HMASs) with convex position constraints, nonconvex velocity constraints and communication noises is reported in this paper, where the dynamics of HMASs are composed of first-order or second-order difference equations, and the noises are assumed to be martingale difference sequences. Firstly, a new algorithm is designed
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Improved Robust Passivity Criteria for Delayed Neural Networks Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-02-08 Yaqi Li, Yun Chen, Shuangcheng Sun
This paper investigates the robust passivity problem for neural networks with uncertain system parameters and a time-varying delay. Based on Lyapunov stability theory, ensuring the negative definiteness for the derivatives of the developed Lyapunov-Krasovskii functional (LKF) is necessary in order to derive a passivity criterion. A negative condition on the cubic polynomial over a certain interval
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An Improved UFastSLAM With Generalized Correntropy Loss and Adaptive Genetic Resampling Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-02-08
Abstract The simultaneous localization and mapping (SLAM) is a research hotspot in robot navigation. In this paper, an improved UFastSLAM with generalized correntropy loss and adaptive genetic resampling is proposed. Specifically, the unscented Kalman filter algorithm with generalized correntropy loss is improved as the importance sampling in particle filter. Then, an adaptive genetic algorithm is
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Robust Positive Consensus for Heterogeneous Multi-agent Systems Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-02-08
Abstract This paper investigates a robust positive consensus problem for a class of heterogeneous high-order multi-agent systems subject to external inputs. Compared with existing multi-agent consensus results, the most distinct feature of the formulated problem is that the state variables of all heterogeneous agents are confined in the positive orthant. To solve this problem, we present a two-step
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Iterative Algorithm for Feedback Nonlinear Systems by Using the Maximum Likelihood Principle Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-02-08 Huafeng Xia
This paper aims to find a maximum likelihood least squares-based iterative algorithm to solve the identification issues of closed-loop input nonlinear equation-error systems. By adopting the key term separation technique, the parameters of the forward channel are identified separately from the parameters of the feedback channel to address the cross-product terms. The hierarchical identification principle
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Integral-event-triggered H∞, Blood Glucose Control of Type 1 Diabetes via Artificial Pancreas Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-02-08 Shen Yan, Yue Cai
This technical note is concerned with the event-triggered H∞ blood glucose regulation issue of type 1 diabetes by using networked artificial pancreas (AP). In order to improve the service life of AP, an integral-event-triggered scheme (IETS) is presented to reduce the releasing rate of control signal and the updating times of insulin pump. Compared with the normal event-triggered scheme (ETS), the
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Stochastic Stability of the Improved Maximum Correntropy Kalman Filter Against Non-Gaussian Noises Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-02-08 Xuehua Zhao, Dejun Mu, Zhaohui Gao, Jiahao Zhang, Guo Li
In this paper, an improved maximum correntropy Kalman filter (IMCKF) algorithm is proposed to enhance the estimation accuracy of conventional correntropy based Kalman filter against the non-Gaussian noise. To increase the proposed algorithm estimation precision, a novel cost function is introduced based on weighted factors. Then the IMCKF algorithm is put forward and derived in detail. Furthermore
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Memory Event-triggered Sliding Mode Control for UAV Formation Under Communication Delay and Wake Interferences Int. J. Control Autom. Syst. (IF 3.2) Pub Date : 2024-02-07 Ming-Fei Ji, Tao Li, Shu-Min Fei, Xian-Lin Zhao
This paper studies the formation control for unmanned aerial vehicles (UAVs) under communication delay and wake disturbances, in which the inner-loop and outer-loop control strategy is adopted. Firstly, as for the dynamical models of follower UAVs, the wake interferences are considered and their influences are respectively estimated by using the sliding model disturbance observers (SMDOs). Secondly