Dear Editor,It is well known that event-triggered control(ETC)is an effective approach in addressing networked control problems for Industry 5.0.Its feasibility,however,is still restricted to canonical nonlinear syste...Dear Editor,It is well known that event-triggered control(ETC)is an effective approach in addressing networked control problems for Industry 5.0.Its feasibility,however,is still restricted to canonical nonlinear systems so far.Considering this,a gradient-based adaptive ETC scheme for noncanonical nonlinear systems is newly developed in this letter,where the hysteresis input constraints are considered also.By proper decomposition,the technical issue of handling ETC-induced measurement errors and hysteresis inputs can be transformed into the robustness problem to bounded disturbance-like terms,which is then addressed by integrating a switching modification strategy in adaptive design and developing a novel augmented error-based analysis framework.Experimental results based on a practical piezoactuator confirm the effectiveness of the proposed scheme.展开更多
When non-cooperative body attachment occurs in space, the inertia of the new combination and the change of the system's momentum are unknown.This uncertainty may lead to the instability of the spacecraft's att...When non-cooperative body attachment occurs in space, the inertia of the new combination and the change of the system's momentum are unknown.This uncertainty may lead to the instability of the spacecraft's attitude control.In order to solve this problem, we propose an adaptive control scheme based on the inertia estimation of the new, combined system of non-cooperative body and satellite.This method can allow the new combination of different situations to reach a stable state with a high level of precision and speed.In this paper, the stability of the adaptive control scheme is proven by constructing a Lyapunov function.A simulation environment in which a non-cooperative body attaches to a satellite attaches to is constructed.The simulation shows that the attitude error converges to a small field when using the control scheme, regardless of unfavorable cases, including unknown inertia parameters, added momentum.In addition, the simulation results show the strong robustness of the control scheme for the new combination.展开更多
Dear Editor,This letter studies the event-triggered adaptive horizon distributed model predictive control problem for discrete-time coupled nonlinear systems with additive disturbances.By constructing a new dualmodel ...Dear Editor,This letter studies the event-triggered adaptive horizon distributed model predictive control problem for discrete-time coupled nonlinear systems with additive disturbances.By constructing a new dualmodel optimal control problem,an event-triggered mechanism and an adaptive prediction horizon scheme are co-designed in the proposed scheme.Notably,the upper bound of the triggering interval remains independent of the dynamically shrinking prediction horizon.This enables the event-triggered mechanism to operate effectively even when the prediction horizon becomes zero,thus achieving cost savings throughout the control process.In addition,the sufficient conditions of the proposed scheme associated with the feasibility and stability are provided.The effectiveness is illustrated through a practical example.展开更多
A new approach of adaptive distributed control is proposed for a class of networks with unknown time-varying coupling weights. The proposed approach ensures that the complex dynamical networks achieve asymptotical syn...A new approach of adaptive distributed control is proposed for a class of networks with unknown time-varying coupling weights. The proposed approach ensures that the complex dynamical networks achieve asymptotical synchronization and all the closed-loop signals are bounded. Furthermore, the coupling matrix is not assumed to be symmetric or irreducible and asymptotical synchronization can be achieved even when the graph of network is not connected. Finally, a simulation example shows the feasibility and effectiveness of the approach.展开更多
Distributed formation control of multiple quadrotor unmanned aerial vehicles(MQUAVs)has emerged as a promising solution for cooperative operations,with substantial advancements reported[1,2].Note that in largescale fo...Distributed formation control of multiple quadrotor unmanned aerial vehicles(MQUAVs)has emerged as a promising solution for cooperative operations,with substantial advancements reported[1,2].Note that in largescale formations,only a subset of followers communicates directly with the leader while the remainder rely on multi-hop relaying,which may compromise command timeliness[3].Existing finite/fixed-time formation schemes[4,5],while effective,involve complex settling time calculations and lack well-defined means to adjust transient and steady-state performance.展开更多
An adaptive control scheme is presented,which can simultaneously realize vibration suppression and compliance control for flexible joint robot(FJR).The proposed control scheme provides a unified formulation for both v...An adaptive control scheme is presented,which can simultaneously realize vibration suppression and compliance control for flexible joint robot(FJR).The proposed control scheme provides a unified formulation for both vibration suppression mode,where FJR tracks the desired position with little vibration,and compliance mode,in which FJR presents passive.Instead of designing multiple controllers and switching between them,both modes are integrated into a single controller,and the transition between two modes is smooth and stable.The stability of the closed-loop system is theoretically proven via the Lyapunov method,with the considering the dynamics uncertainties in both link side and motor side.Simulation results are presented to illustrate good performances of the proposed control scheme.展开更多
The adaptive synchronization scheme proposed by John and Amritkar was employed into the Belousov Zhabotinsky (BZ) 4 variable Montanator model system. By the parameter adjustment, chaos synchronization has been obta...The adaptive synchronization scheme proposed by John and Amritkar was employed into the Belousov Zhabotinsky (BZ) 4 variable Montanator model system. By the parameter adjustment, chaos synchronization has been obtained. Through calculating the transient time, the optimal combination of the stiffness constant and damping constant was obtained. Furthermore, the relationships among the transient time, conditional Lyapunov exponents, the stiffness constant and damping constant were discussed. Also, the BZ system with the adaptive synchronization scheme might be used for the communication purposes.展开更多
An adaptive PBC strategy for SM with a time-varying load torque to track fluxand speed trajectories was proposed.The key point of this method was the identificationof terms,known as workless forces,which appeared in t...An adaptive PBC strategy for SM with a time-varying load torque to track fluxand speed trajectories was proposed.The key point of this method was the identificationof terms,known as workless forces,which appeared in the dynamic equations of SM buthad no effect on the energy balance equation of the closed loop.PBC,combined withadaptive control schemes,not only preserved the advantages of PBC such as nonexistenceof singularity,but also rejected the flux and speed tracking error caused by statorand rotor resistance variation.The rotor currents of SM were estimated via a state observer.This algorithm simplified the control structure and enhanced the robustness of thecontrol system.The feasibility and effectiveness were confirmed by experimental resultsbased on dSPACE.展开更多
A general response system control method for synchronization of continuous scalar chaotic signal is presented. The proposed canonical genera/response system can cover most of the well-known chaotic systems. Conversely...A general response system control method for synchronization of continuous scalar chaotic signal is presented. The proposed canonical genera/response system can cover most of the well-known chaotic systems. Conversely, each of these chaotic systems can Mso be used to construct the genera/response system. Furthermore, a novel controller of the proposed response system is designed based on backstepping technique, with which the output of the genera/response system and the given continuous chaotic signal can synchronize perfectly. Two numerical examples are given to illustrate the effectiveness of the proposed control method.展开更多
A novel hybrid adaptive event-triggered platoon control strategy is proposed to achieve the balanced coordination between communication resource utilization and vehicle-following performance considering the effect of ...A novel hybrid adaptive event-triggered platoon control strategy is proposed to achieve the balanced coordination between communication resource utilization and vehicle-following performance considering the effect of package dropout.To deal with the disturbance caused by the event-triggered scheme,the parameter space approach is adopted to derive the feasible region from which cooperative adaptive cruise control controller satisfies internal stability,distance accuracy,and string stability.Subsequently,the Bernoulli random distribution process is employed to depict the phenomenon of package drop-out,and the hybrid coefficient is proposed to realize the allocation between the adaptive trigger threshold strategy and the adaptive headway strategy.The simulation of a six-vehicle platoon is carried out to verify the effectiveness of the designed control strategy.Results show that about 78.76%of communication resources have been saved by applying the event-triggered scheme,while guaranteeing the desired vehicle-following performance.And in the non-ideal communication environment with frequent package dropouts,the hybrid adaptive strategy achieves the coordination among communication resource utilization,string stability margin,distance accuracy,and traffic efficiency.展开更多
Safety-critical control enables intelligent robots to have better secure operation and resistance to adverse environments, hence greatly enhancing their interaction and adaptability to the environment. In this paper, ...Safety-critical control enables intelligent robots to have better secure operation and resistance to adverse environments, hence greatly enhancing their interaction and adaptability to the environment. In this paper, we propose a safety-critical control scheme for robotic systems using an adaptive error elimination algorithm and optimization-based nonlinear optimal predictive control(NOPC) framework. The novelty of the proposed work lies in that an adaptive error elimination controller is designed to deal with the problem of stabilization of walking gait, which ensures that robot joint trajectory can compensate for the limitation of the template model. In order to be independent of system parameters and disturbances, a sliding mode controller is further designed under an uncertain environment. This approach takes into account simultaneously with foot position and orientation based on NOPC optimization. It tracks the modified trajectories constrained with the centroidal momentum dynamics. Finally, simulations is utilized to verify the efectiveness of the mentioned methods. The results indicate that the tracking efect of joint trajectory is better safety-critical nonlinear optimal predictive control with adaptive error elimination algorithm.展开更多
文摘Dear Editor,It is well known that event-triggered control(ETC)is an effective approach in addressing networked control problems for Industry 5.0.Its feasibility,however,is still restricted to canonical nonlinear systems so far.Considering this,a gradient-based adaptive ETC scheme for noncanonical nonlinear systems is newly developed in this letter,where the hysteresis input constraints are considered also.By proper decomposition,the technical issue of handling ETC-induced measurement errors and hysteresis inputs can be transformed into the robustness problem to bounded disturbance-like terms,which is then addressed by integrating a switching modification strategy in adaptive design and developing a novel augmented error-based analysis framework.Experimental results based on a practical piezoactuator confirm the effectiveness of the proposed scheme.
基金supported by the Fundamental Research Funds for the Central Universities,China(No.NS2014092)。
文摘When non-cooperative body attachment occurs in space, the inertia of the new combination and the change of the system's momentum are unknown.This uncertainty may lead to the instability of the spacecraft's attitude control.In order to solve this problem, we propose an adaptive control scheme based on the inertia estimation of the new, combined system of non-cooperative body and satellite.This method can allow the new combination of different situations to reach a stable state with a high level of precision and speed.In this paper, the stability of the adaptive control scheme is proven by constructing a Lyapunov function.A simulation environment in which a non-cooperative body attaches to a satellite attaches to is constructed.The simulation shows that the attitude error converges to a small field when using the control scheme, regardless of unfavorable cases, including unknown inertia parameters, added momentum.In addition, the simulation results show the strong robustness of the control scheme for the new combination.
基金supported by the National Natural Science Foundation of China(62473265,62476176,12426311).
文摘Dear Editor,This letter studies the event-triggered adaptive horizon distributed model predictive control problem for discrete-time coupled nonlinear systems with additive disturbances.By constructing a new dualmodel optimal control problem,an event-triggered mechanism and an adaptive prediction horizon scheme are co-designed in the proposed scheme.Notably,the upper bound of the triggering interval remains independent of the dynamically shrinking prediction horizon.This enables the event-triggered mechanism to operate effectively even when the prediction horizon becomes zero,thus achieving cost savings throughout the control process.In addition,the sufficient conditions of the proposed scheme associated with the feasibility and stability are provided.The effectiveness is illustrated through a practical example.
基金supported by Ph.D.Programs Foundation of Ministry of Education of China(Nos.JY0300137002 and20130203110021)Research Funds for the Central Universities(No.JB142001-6)
文摘A new approach of adaptive distributed control is proposed for a class of networks with unknown time-varying coupling weights. The proposed approach ensures that the complex dynamical networks achieve asymptotical synchronization and all the closed-loop signals are bounded. Furthermore, the coupling matrix is not assumed to be symmetric or irreducible and asymptotical synchronization can be achieved even when the graph of network is not connected. Finally, a simulation example shows the feasibility and effectiveness of the approach.
基金supported by the National Natural Science Foundation of China(Grant Nos.62473130,62203153,62573178)the Outstanding Youth Innovation Research Group Project of Natural Science Foundation of Henan Province(Grant No.252300421004)+4 种基金the Central Plains Talent Program–Leading Talents in Basic Research of Henan Provincein part by the Central Plains Talent Program–Science and Technology Innovation Outstanding Young Talents of Henan Provincethe Joint Fund of Science and Technology R&D Plan of Henan Province for Young Scientists(Grant No.235200810105)the Application Research Project of the Joint Fund of Science and Technology R&D Plan of Henan Province(Grant No.242103810052)the Technology Innovative Teams in University of Henan Province(Grant No.23IRT-STHN012)。
文摘Distributed formation control of multiple quadrotor unmanned aerial vehicles(MQUAVs)has emerged as a promising solution for cooperative operations,with substantial advancements reported[1,2].Note that in largescale formations,only a subset of followers communicates directly with the leader while the remainder rely on multi-hop relaying,which may compromise command timeliness[3].Existing finite/fixed-time formation schemes[4,5],while effective,involve complex settling time calculations and lack well-defined means to adjust transient and steady-state performance.
基金supported by the National Key R&D Program of China(No.2017YFB1300400)the National Natural Science Foundation of China(No. 51805107)
文摘An adaptive control scheme is presented,which can simultaneously realize vibration suppression and compliance control for flexible joint robot(FJR).The proposed control scheme provides a unified formulation for both vibration suppression mode,where FJR tracks the desired position with little vibration,and compliance mode,in which FJR presents passive.Instead of designing multiple controllers and switching between them,both modes are integrated into a single controller,and the transition between two modes is smooth and stable.The stability of the closed-loop system is theoretically proven via the Lyapunov method,with the considering the dynamics uncertainties in both link side and motor side.Simulation results are presented to illustrate good performances of the proposed control scheme.
文摘The adaptive synchronization scheme proposed by John and Amritkar was employed into the Belousov Zhabotinsky (BZ) 4 variable Montanator model system. By the parameter adjustment, chaos synchronization has been obtained. Through calculating the transient time, the optimal combination of the stiffness constant and damping constant was obtained. Furthermore, the relationships among the transient time, conditional Lyapunov exponents, the stiffness constant and damping constant were discussed. Also, the BZ system with the adaptive synchronization scheme might be used for the communication purposes.
基金Supported by the National Basic Research Program of China(973 Program)(2005CB221505)the Special Scientific Research Foundation for Doctoral Subject of Colleges and Universities in China(20050248058)
文摘An adaptive PBC strategy for SM with a time-varying load torque to track fluxand speed trajectories was proposed.The key point of this method was the identificationof terms,known as workless forces,which appeared in the dynamic equations of SM buthad no effect on the energy balance equation of the closed loop.PBC,combined withadaptive control schemes,not only preserved the advantages of PBC such as nonexistenceof singularity,but also rejected the flux and speed tracking error caused by statorand rotor resistance variation.The rotor currents of SM were estimated via a state observer.This algorithm simplified the control structure and enhanced the robustness of thecontrol system.The feasibility and effectiveness were confirmed by experimental resultsbased on dSPACE.
文摘A general response system control method for synchronization of continuous scalar chaotic signal is presented. The proposed canonical genera/response system can cover most of the well-known chaotic systems. Conversely, each of these chaotic systems can Mso be used to construct the genera/response system. Furthermore, a novel controller of the proposed response system is designed based on backstepping technique, with which the output of the genera/response system and the given continuous chaotic signal can synchronize perfectly. Two numerical examples are given to illustrate the effectiveness of the proposed control method.
基金supported by the Jilin Provincial Natural Science Foundation of Jilin Province(No.YDZJ202101ZYTS190)the Jilin Provincial Key Laboratory(No.YDZJ202102CXJD017).
文摘A novel hybrid adaptive event-triggered platoon control strategy is proposed to achieve the balanced coordination between communication resource utilization and vehicle-following performance considering the effect of package dropout.To deal with the disturbance caused by the event-triggered scheme,the parameter space approach is adopted to derive the feasible region from which cooperative adaptive cruise control controller satisfies internal stability,distance accuracy,and string stability.Subsequently,the Bernoulli random distribution process is employed to depict the phenomenon of package drop-out,and the hybrid coefficient is proposed to realize the allocation between the adaptive trigger threshold strategy and the adaptive headway strategy.The simulation of a six-vehicle platoon is carried out to verify the effectiveness of the designed control strategy.Results show that about 78.76%of communication resources have been saved by applying the event-triggered scheme,while guaranteeing the desired vehicle-following performance.And in the non-ideal communication environment with frequent package dropouts,the hybrid adaptive strategy achieves the coordination among communication resource utilization,string stability margin,distance accuracy,and traffic efficiency.
基金supported by the National Natural Science Foundation of China (No. 61573260,No. 62073245,No. U1713211)
文摘Safety-critical control enables intelligent robots to have better secure operation and resistance to adverse environments, hence greatly enhancing their interaction and adaptability to the environment. In this paper, we propose a safety-critical control scheme for robotic systems using an adaptive error elimination algorithm and optimization-based nonlinear optimal predictive control(NOPC) framework. The novelty of the proposed work lies in that an adaptive error elimination controller is designed to deal with the problem of stabilization of walking gait, which ensures that robot joint trajectory can compensate for the limitation of the template model. In order to be independent of system parameters and disturbances, a sliding mode controller is further designed under an uncertain environment. This approach takes into account simultaneously with foot position and orientation based on NOPC optimization. It tracks the modified trajectories constrained with the centroidal momentum dynamics. Finally, simulations is utilized to verify the efectiveness of the mentioned methods. The results indicate that the tracking efect of joint trajectory is better safety-critical nonlinear optimal predictive control with adaptive error elimination algorithm.
