The objective of this paper is to present a robust safety-critical control system based on the active disturbance rejection control approach, designed to guarantee safety even in the presence of model inaccuracies, un...The objective of this paper is to present a robust safety-critical control system based on the active disturbance rejection control approach, designed to guarantee safety even in the presence of model inaccuracies, unknown dynamics, and external disturbances. The proposed method combines control barrier functions and control Lyapunov functions with a nonlinear extended state observer to produce a robust and safe control strategy for dynamic systems subject to uncertainties and disturbances. This control strategy employs an optimization-based control, supported by the disturbance estimation from a nonlinear extended state observer. Using a quadratic programming algorithm, the controller computes an optimal, stable, and safe control action at each sampling instant. The effectiveness of the proposed approach is demonstrated through numerical simulations of a safety-critical interconnected adaptive cruise control system.展开更多
This paper presents the design of an asymmetrically variable wingtip anhedral angles morphing aircraft,inspired by biomimetic mechanisms,to enhance lateral maneuver capability.Firstly,we establish a lateral dynamic mo...This paper presents the design of an asymmetrically variable wingtip anhedral angles morphing aircraft,inspired by biomimetic mechanisms,to enhance lateral maneuver capability.Firstly,we establish a lateral dynamic model considering additional forces and moments resulting during the morphing process,and convert it into a Multiple Input Multiple Output(MIMO)virtual control system by importing virtual inputs.Secondly,a classical dynamics inversion controller is designed for the outer-loop system.A new Global Fast Terminal Incremental Sliding Mode Controller(NDO-GFTISMC)is proposed for the inner-loop system,in which an adaptive law is implemented to weaken control surface chattering,and a Nonlinear Disturbance Observer(NDO)is integrated to compensate for unknown disturbances.The whole control system is proven semiglobally uniformly ultimately bounded based on the multi-Lyapunov function method.Furthermore,we consider tracking errors and self-characteristics of actuators,a quadratic programmingbased dynamic control allocation law is designed,which allocates virtual control inputs to the asymmetrically deformed wingtip and rudder.Actuator dynamic models are incorporated to ensure physical realizability of designed allocation law.Finally,comparative experimental results validate the effectiveness of the designed control system and control allocation law.The NDO-GFTISMC features faster convergence,stronger robustness,and 81.25%and 75.0%reduction in maximum state tracking error under uncertainty compared to the Incremental Nonlinear Dynamic Inversion Controller based on NDO(NDO-INDI)and Incremental Sliding Mode Controller based on NDO(NDO-ISMC),respectively.The design of the morphing aircraft significantly enhances lateral maneuver capability,maintaining a substantial control margin during lateral maneuvering,reducing the burden of the rudder surface,and effectively solving the actuator saturation problem of traditional aircraft during lateral maneuvering.展开更多
This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hype...This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hypersonic vehicles.In order to increase the control amount,this online control legislation makes use of model predictive control(MPC)that is based on the concept of iterative learning control(ILC).By using offline data to decrease the linearized model’s faults,the strategy may effectively increase the robustness of the control system and guarantee that disturbances can be suppressed.An adaptive fault observer is created based on the suggested ILMPC approach in order to enhance overall fault tolerance by estimating and compensating for actuator disturbance and fault degree.During the derivation process,a linearized model of longitudinal dynamics is established.The suggested ILMPC approach is likely to be used in the design of hypersonic vehicle control systems since numerical simulations have demonstrated that it can decrease tracking error and speed up convergence when compared to the offline controller.展开更多
Purpose–This study aims to propose a cooperative adhesion control method for trains with multiple motors electric locomotives.The method is intended to optimize the output torque of each motor,maximize the utilizatio...Purpose–This study aims to propose a cooperative adhesion control method for trains with multiple motors electric locomotives.The method is intended to optimize the output torque of each motor,maximize the utilization of train adhesion within the total torque command,reduce the train skidding/sliding phenomenon and achieve optimal adhesion utilization for each axle,thus realizing the optimal allocation of the multi-motor electric locomotives.Design/methodology/approach–In this study,a model predictive control(MPC)-based cooperative maximum adhesion tracking control method for multi-motor electric locomotives is presented.Firstly,train traction system with multiple motors is constructed in accordance with Newton’s second law.These equations include the train dynamics equations,the axle dynamics equations,and the wheel-rail adhesion coefficient equations.Then,a new MPC-based multi-axle adhesion co-optimization method is put forward.This method calculates the optimal output torque through real-time iteration based on the known reference slip speed to achieve multi-axle co-optimization under different circumstances.Findings–This paper presents a MPC system designed for the cooperative control of multi-axle adhesion.The results indicate that the proposed control system is able to optimize the adhesion of multiple axles under numerous different conditions and achieve the optimal power distribution based on the reduction of train skidding/sliding.Originality/value–This study presents a novel cooperative adhesion tracking control scheme.It is designed for multi-motor electric locomotives,which has rarely been studied before.And simulations are carried out in different conditions,including variable surfaces and motor failing.展开更多
Dear Editor,In this letter,a constrained networked predictive control strategy is proposed for the optimal control problem of complex nonlinear highorder fully actuated(HOFA)systems with noises.The method can effectiv...Dear Editor,In this letter,a constrained networked predictive control strategy is proposed for the optimal control problem of complex nonlinear highorder fully actuated(HOFA)systems with noises.The method can effectively deal with nonlinearities,constraints,and noises in the system,optimize the performance metric,and present an upper bound on the stable output of the system.展开更多
This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only b...This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results.展开更多
The nonlinear dynamic characteristics of a two-peak discrete chaotic system are studied.Through the study of the nonlinear dy‐namic behavior of the system,it is found that with the change of the system parameters,the...The nonlinear dynamic characteristics of a two-peak discrete chaotic system are studied.Through the study of the nonlinear dy‐namic behavior of the system,it is found that with the change of the system parameters,the system starts from a chaotic state,and then goes through intermittent chaos,stable region,period-doubling bifurcation to a chaotic state again.The systems critical conditions and pro‐cess to generate intermittent chaos are analyzed.The feedback control method sets linear and nonlinear controllers for the system to control the chaos.By adjusting the value of control parameters,the intermittent chaos can be delayed or disappear,and the stability region and period-doubling bifurcation process of the system can be expanded.Both linear controllers and nonlinear controllers have the same control effect.The numerical simulation analysis verifies the correctness of the theoretical analysis.展开更多
In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),...In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),a control architecture designed specifically for distributed aerial robot systems.By integrating an explicit model predictive controller(MPC)with a tube MPC,our approach significantly reduces online computational demands while enhancing robustness against disturbances such as wind and measurement noise,as well as uncertainties in inertia parameters.Further,we incorporate a cascade controller to minimize steady-state errors and improve system performance dynamically.The results of this assessment provide valuable insights into the effectiveness and reliability of the CET-MPC approach under realistic operating conditions.The simulation results of flight scenarios for multi-agent quadrotors demonstrate the controller’s stability and accurate tracking of the desired path.By addressing the complexities of quadrotors’six degrees of freedom,this controller serves as a versatile solution applicable to a wide range of multi-robot systems with varying degrees of freedom,demonstrating its adaptability and scalability beyond the quadrotor domain.展开更多
Dear Editor,This letter considers the formation control of multiple mobile robot systems(MMRS)that only relies on the local observation information.A new distributed finite-time observer is proposed for MMRS under dir...Dear Editor,This letter considers the formation control of multiple mobile robot systems(MMRS)that only relies on the local observation information.A new distributed finite-time observer is proposed for MMRS under directed graph to estimate the relative information between each follower robot and the leader robot.Then the formation control problem is transformed into the tracking problem and a finite-time tracking controller is proposed based on the robot model feature.展开更多
Dear Editor,This letter deals with the stabilization problem of nonlinear stochastic systems via self-triggered impulsive control(STIC), where the timing of impulsive control actions is not dependent on continuous sta...Dear Editor,This letter deals with the stabilization problem of nonlinear stochastic systems via self-triggered impulsive control(STIC), where the timing of impulsive control actions is not dependent on continuous state monitoring. In contrast to the existing self-triggered control method, novel self-triggered mechanism(STM) is proposed by incorporating a waiting time for stabilizing impulses. This allows for direct prediction of the next impulsive instant.展开更多
The development of the adaptive cycle engine is a crucial direction of advanced fighter power sources in the near future.However,this new technology brings more uncertainty to the design of the control system.To addre...The development of the adaptive cycle engine is a crucial direction of advanced fighter power sources in the near future.However,this new technology brings more uncertainty to the design of the control system.To address the versatile thrust demand under complex dynamic characteristics of the adaptive cycle engine,this paper proposes a direct thrust estimation and control method based on the Model-Free Adaptive Control(MFAC)algorithm.First,an improved Sliding Mode Control-MFAC(SMC-MFAC)algorithm has been developed by introducing a sliding mode variable structure into the standard Full Format Dynamic Linearization-MFAC(FFDL-MFAC)and designing self-adaptive weight coefficients.Then a trivariate double-loop direct thrust control structure with a controller-based thrust estimator and an outer command compensation loop has been established.Through thrust feedback and command correction,accurate control under multi-mode and operation conditions is achieved.The main contribution of this paper is the improved algorithm that combines the tracking capability of the MFAC and the robustness of the SMC,thus enhancing the dynamic performance.Considering the requirements of the online thrust feedback,the designed MFAC-based thrust estimator significantly speeds up the calculation.Additionally,the proposed command correction module can achieve the adaptive thrust control without affecting the operation of the inner loop.Simulations and Hardware-in-Loop(HIL)experiments have been performed on an adaptive cycle engine component-level model to investigate the estimation and control effect under different modes and health conditions.The results demonstrate that both the thrust estimation precision and operation speed are significantly improved compared with Extended Kalman Filter(EKF).Furthermore,the system can accelerate the response of the controlled plant,reduce the overshoot,and realize the thrust recovery within the safety range when the engine encounters the degradation.展开更多
Dear Editor,This letter presents an improved repetitive controller(IRC) that uses a complex-coefficient filter to enhance the tracking performance of a system for periodic signals. Compared with the low-pass filter us...Dear Editor,This letter presents an improved repetitive controller(IRC) that uses a complex-coefficient filter to enhance the tracking performance of a system for periodic signals. Compared with the low-pass filter used in the conventional repetitive controller(CRC), the complex-coefficient filter causes less change in the phase and amplitude of a signal at the frequencies of the periodic signal, especially at the fundamental frequency, when the two filters have the same cutofffrequency.展开更多
Modern automated generation control(AGC)is increasingly complex,requiring precise frequency control for stability and operational accuracy.Traditional PID controller optimisation methods often struggle to handle nonli...Modern automated generation control(AGC)is increasingly complex,requiring precise frequency control for stability and operational accuracy.Traditional PID controller optimisation methods often struggle to handle nonlinearities and meet robustness requirements across diverse operational scenarios.This paper introduces an enhanced strategy using a multi-objective optimisation framework and a modified non-dominated sorting genetic algorithm Ⅱ(SNSGA).The proposed model optimises the PID controller by minimising key performance metrics:integration time squared error(ITSE),integration time absolute error(ITAE),and rate of change of deviation(J).This approach balances convergence rate,overshoot,and oscillation dynamics effectively.A fuzzy-based method is employed to select the most suitable solution from the Pareto set.The comparative analysis demonstrates that the SNSGA-based approach offers superior tuning capabilities over traditional NSGA-Ⅱ and other advanced control methods.In a two-area thermal power system without reheat,the SNSGA significantly reduces settling times for frequency deviations:2.94s for Δf_(1) and 4.98s for Δf_(2),marking improvements of 31.6%and 13.4%over NSGA-Ⅱ,respectively.展开更多
Tracking control of tendon-driven manipulators has become a prevalent research area.However,the existence of flexible elastic tendons generates substantial residual vibrations,resulting in difficulties for trajectory ...Tracking control of tendon-driven manipulators has become a prevalent research area.However,the existence of flexible elastic tendons generates substantial residual vibrations,resulting in difficulties for trajectory tracking control of the manipulator.This paper proposes the radial basis function neural network adaptive hierarchical sliding mode control(RBFNNA-HSMC)method,which combines the dynamic model of the elastic tendon-driven manipulator(ETDM)with radial basis neural network adaptive control and hierarchical sliding mode control technology.The aim is to achieve trajectory tracking control of ETDM even under conditions of model inaccuracy and disturbance.The Lyapunov stability theory demonstrates the stability of the proposed RBFNNA-HSM controller.In order to assess the effectiveness and adaptability of the proposed control method,simulations and experiments were performed on a two-DOF ETDM.The RBFNNA-HSM method shows superior tracking accuracy compared to traditional modelbased HSM control.The experiment shows that the maximum tracking error for ETDM double-joint trajectory tracking is below 2.593×10-3rad and 1.624×10-3rad,respectively.展开更多
Dear Editor,This letter addresses the formation control problem for constrained underactuated autonomous underwater vehicles (AUVs). The feasibility condition of the virtual control law is eliminated by introducing a ...Dear Editor,This letter addresses the formation control problem for constrained underactuated autonomous underwater vehicles (AUVs). The feasibility condition of the virtual control law is eliminated by introducing a nonlinear state dependence function (NSDF) that transforms the state of each AUV in the formation.展开更多
We present a robust quantum optimal control framework for implementing fast entangling gates on ion-trap quantum processors.The framework leverages tailored laser pulses to drive the multiple vibrational sidebands of ...We present a robust quantum optimal control framework for implementing fast entangling gates on ion-trap quantum processors.The framework leverages tailored laser pulses to drive the multiple vibrational sidebands of the ions to create phonon-mediated entangling gates and,unlike the state of the art,requires neither weakcoupling Lamb-Dicke approximation nor perturbation treatment.With the application of gradient-based optimal control,it enables finding amplitude-and phase-modulated laser control protocols that work without the Lamb-Dicke approximation,promising gate speeds on the order of microseconds comparable to the characteristic trap frequencies.Also,robustness requirements on the temperature of the ions and initial optical phase can be conveniently included to pursue high-quality fast gates against experimental imperfections.Our approach represents a step in speeding up quantum gates to achieve larger quantum circuits for quantum computation and simulation,and thus can find applications in near-future experiments.展开更多
Maintaining stable high temperatures under pressure remains a challenge in high-pressure,high-temperature experiments using multi-anvil presses(MAPs).Temperature fluctuations exceeding 10℃ at high pressures are commo...Maintaining stable high temperatures under pressure remains a challenge in high-pressure,high-temperature experiments using multi-anvil presses(MAPs).Temperature fluctuations exceeding 10℃ at high pressures are common and particularly problematic with LaCrO_(3) heaters,which can experience significant power fluctuations and even failure due to substantial resistance changes—an issue conventional thyristorcontrolled heating systems cannot effectively manage.To address this limitation,we have developed the Multi-Anvil Stable Temperature controller(MASTer),a high-performance heating system optimized for MAP experiments.MASTer enables precise,high-speed measurement of heating parameters and power output control,incorporating a gentle regulation strategy to enhance stability.It ensures consistent heating across various heater types,including LaCrO_(3),with power fluctuations limited to±0.1 W and temperature fluctuations to within±2℃ in most cases.The design,operating principles,user interface,functionality,and performance of the heating system are discussed in detail.展开更多
This paper highlights the utilization of parallel control and adaptive dynamic programming(ADP) for event-triggered robust parallel optimal consensus control(ETRPOC) of uncertain nonlinear continuous-time multiagent s...This paper highlights the utilization of parallel control and adaptive dynamic programming(ADP) for event-triggered robust parallel optimal consensus control(ETRPOC) of uncertain nonlinear continuous-time multiagent systems(MASs).First, the parallel control system, which consists of a virtual control variable and a specific auxiliary variable obtained from the coupled Hamiltonian, allows general systems to be transformed into affine systems. Of interest is the fact that the parallel control technique's introduction provides an unprecedented perspective on eliminating the negative effects of disturbance. Then, an eventtriggered mechanism is adopted to save communication resources while ensuring the system's stability. The coupled HamiltonJacobi(HJ) equation's solution is approximated using a critic neural network(NN), whose weights are updated in response to events. Furthermore, theoretical analysis reveals that the weight estimation error is uniformly ultimately bounded(UUB). Finally,numerical simulations demonstrate the effectiveness of the developed ETRPOC method.展开更多
Active Disturbance Rejection Control(ADRC)possesses robust disturbance rejection capabilities,making it well-suited for longitudinal velocity control.However,the conventional Extended State Observer(ESO)in ADRC fails ...Active Disturbance Rejection Control(ADRC)possesses robust disturbance rejection capabilities,making it well-suited for longitudinal velocity control.However,the conventional Extended State Observer(ESO)in ADRC fails to fully exploit feedback from first-order and higher-order estimation errors and tracking error simultaneously,thereby diminishing the control performance of ADRC.To address this limitation,an enhanced car-following algorithm utilising ADRC is proposed,which integrates the improved ESO with a feedback controller.In comparison to the conventional ESO,the enhanced version effectively utilises multi-order estimation and tracking errors.Specifically,it enhances convergence rates by incorporating feedback from higher-order estimation errors and ensures the estimated value converges to the reference value by utilising tracking error feedback.The improved ESO significantly enhances the disturbance rejection performance of ADRC.Finally,the effectiveness of the proposed algorithm is validated through the Lyapunov approach and experiments.展开更多
Permanent Magnet Synchronous Motors(PMSMs)are widely employed in high-performance drive applications due to their superior efficiency and dynamic capabilities.However,their control remains challenging owing to nonline...Permanent Magnet Synchronous Motors(PMSMs)are widely employed in high-performance drive applications due to their superior efficiency and dynamic capabilities.However,their control remains challenging owing to nonlinear dynamics,parameter variations,and unmeasurable external disturbances,particularly load torquefluctuations.This study proposes an enhanced Interconnection and Damp-ing Assignment Passivity-Based Control(IDA-PBC)scheme,formulated within the port-controlled Hamiltonian(PCH)framework,to address these limitations.A nonlinear disturbance observer is embedded to estimate and compensate,in real time,for lumped mis-matched disturbances arising from parameter uncertainties and external loads.Additionally,aflatness-based control strategy is employed to generate the desired current references within the nonlinear drive system,ensuring accurate tracking of time-varying speed commands.This integrated approach preserves the system’s energy-based structure,enabling systematic stability analysis while enhancing robustness.The proposed control architecture also maintains low complexity with a limited number of tunable parameters,facilitating practical implementation.Simulation and experimental results under various operating conditions demonstrate the effectiveness and robustness of the proposed method.Comparative analysis with conventional proportional-integral(PI)control and standard IDA-PBC strategies confirms its capability to handle disturbances and maintain dynamic performance.展开更多
基金supported by the Fondo para el Primer Proyecto of the Comitépara el Desarrollo de la Investigación(CODI)at the Universidad de Antioquia(Grant Number PRV2024-78509)。
文摘The objective of this paper is to present a robust safety-critical control system based on the active disturbance rejection control approach, designed to guarantee safety even in the presence of model inaccuracies, unknown dynamics, and external disturbances. The proposed method combines control barrier functions and control Lyapunov functions with a nonlinear extended state observer to produce a robust and safe control strategy for dynamic systems subject to uncertainties and disturbances. This control strategy employs an optimization-based control, supported by the disturbance estimation from a nonlinear extended state observer. Using a quadratic programming algorithm, the controller computes an optimal, stable, and safe control action at each sampling instant. The effectiveness of the proposed approach is demonstrated through numerical simulations of a safety-critical interconnected adaptive cruise control system.
基金supported by the National Natural Science Foundation of China(Nos.62103052 and No.52175214)。
文摘This paper presents the design of an asymmetrically variable wingtip anhedral angles morphing aircraft,inspired by biomimetic mechanisms,to enhance lateral maneuver capability.Firstly,we establish a lateral dynamic model considering additional forces and moments resulting during the morphing process,and convert it into a Multiple Input Multiple Output(MIMO)virtual control system by importing virtual inputs.Secondly,a classical dynamics inversion controller is designed for the outer-loop system.A new Global Fast Terminal Incremental Sliding Mode Controller(NDO-GFTISMC)is proposed for the inner-loop system,in which an adaptive law is implemented to weaken control surface chattering,and a Nonlinear Disturbance Observer(NDO)is integrated to compensate for unknown disturbances.The whole control system is proven semiglobally uniformly ultimately bounded based on the multi-Lyapunov function method.Furthermore,we consider tracking errors and self-characteristics of actuators,a quadratic programmingbased dynamic control allocation law is designed,which allocates virtual control inputs to the asymmetrically deformed wingtip and rudder.Actuator dynamic models are incorporated to ensure physical realizability of designed allocation law.Finally,comparative experimental results validate the effectiveness of the designed control system and control allocation law.The NDO-GFTISMC features faster convergence,stronger robustness,and 81.25%and 75.0%reduction in maximum state tracking error under uncertainty compared to the Incremental Nonlinear Dynamic Inversion Controller based on NDO(NDO-INDI)and Incremental Sliding Mode Controller based on NDO(NDO-ISMC),respectively.The design of the morphing aircraft significantly enhances lateral maneuver capability,maintaining a substantial control margin during lateral maneuvering,reducing the burden of the rudder surface,and effectively solving the actuator saturation problem of traditional aircraft during lateral maneuvering.
基金supported by the National Natural Science Foundation of China(12072090).
文摘This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hypersonic vehicles.In order to increase the control amount,this online control legislation makes use of model predictive control(MPC)that is based on the concept of iterative learning control(ILC).By using offline data to decrease the linearized model’s faults,the strategy may effectively increase the robustness of the control system and guarantee that disturbances can be suppressed.An adaptive fault observer is created based on the suggested ILMPC approach in order to enhance overall fault tolerance by estimating and compensating for actuator disturbance and fault degree.During the derivation process,a linearized model of longitudinal dynamics is established.The suggested ILMPC approach is likely to be used in the design of hypersonic vehicle control systems since numerical simulations have demonstrated that it can decrease tracking error and speed up convergence when compared to the offline controller.
基金supported by Scientific Research Projects of China Association of Metros(CAMET-KY-2022039)State Key Laboratory of Traction and Control System of EMU and Locomotive(2023YJ386).
文摘Purpose–This study aims to propose a cooperative adhesion control method for trains with multiple motors electric locomotives.The method is intended to optimize the output torque of each motor,maximize the utilization of train adhesion within the total torque command,reduce the train skidding/sliding phenomenon and achieve optimal adhesion utilization for each axle,thus realizing the optimal allocation of the multi-motor electric locomotives.Design/methodology/approach–In this study,a model predictive control(MPC)-based cooperative maximum adhesion tracking control method for multi-motor electric locomotives is presented.Firstly,train traction system with multiple motors is constructed in accordance with Newton’s second law.These equations include the train dynamics equations,the axle dynamics equations,and the wheel-rail adhesion coefficient equations.Then,a new MPC-based multi-axle adhesion co-optimization method is put forward.This method calculates the optimal output torque through real-time iteration based on the known reference slip speed to achieve multi-axle co-optimization under different circumstances.Findings–This paper presents a MPC system designed for the cooperative control of multi-axle adhesion.The results indicate that the proposed control system is able to optimize the adhesion of multiple axles under numerous different conditions and achieve the optimal power distribution based on the reduction of train skidding/sliding.Originality/value–This study presents a novel cooperative adhesion tracking control scheme.It is designed for multi-motor electric locomotives,which has rarely been studied before.And simulations are carried out in different conditions,including variable surfaces and motor failing.
基金supported in part by the National Natural Science Foundation of China(62173255,62188101)Shenzhen Key Laboratory of Control Theory and Intelligent Systems(ZDSYS20220330161800001)
文摘Dear Editor,In this letter,a constrained networked predictive control strategy is proposed for the optimal control problem of complex nonlinear highorder fully actuated(HOFA)systems with noises.The method can effectively deal with nonlinearities,constraints,and noises in the system,optimize the performance metric,and present an upper bound on the stable output of the system.
文摘This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results.
基金Supported by the Guiding Project of Science and Technology Research Plan of Hubei Provincial Department of Education(B2022458)。
文摘The nonlinear dynamic characteristics of a two-peak discrete chaotic system are studied.Through the study of the nonlinear dy‐namic behavior of the system,it is found that with the change of the system parameters,the system starts from a chaotic state,and then goes through intermittent chaos,stable region,period-doubling bifurcation to a chaotic state again.The systems critical conditions and pro‐cess to generate intermittent chaos are analyzed.The feedback control method sets linear and nonlinear controllers for the system to control the chaos.By adjusting the value of control parameters,the intermittent chaos can be delayed or disappear,and the stability region and period-doubling bifurcation process of the system can be expanded.Both linear controllers and nonlinear controllers have the same control effect.The numerical simulation analysis verifies the correctness of the theoretical analysis.
文摘In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),a control architecture designed specifically for distributed aerial robot systems.By integrating an explicit model predictive controller(MPC)with a tube MPC,our approach significantly reduces online computational demands while enhancing robustness against disturbances such as wind and measurement noise,as well as uncertainties in inertia parameters.Further,we incorporate a cascade controller to minimize steady-state errors and improve system performance dynamically.The results of this assessment provide valuable insights into the effectiveness and reliability of the CET-MPC approach under realistic operating conditions.The simulation results of flight scenarios for multi-agent quadrotors demonstrate the controller’s stability and accurate tracking of the desired path.By addressing the complexities of quadrotors’six degrees of freedom,this controller serves as a versatile solution applicable to a wide range of multi-robot systems with varying degrees of freedom,demonstrating its adaptability and scalability beyond the quadrotor domain.
基金supported by the National Natural Science Foundation of China(62073113,62003122,62303148)the Fundamental Research Funds for the Central Universities(MCCSE2023A01,JZ2023HGTA0201,JZ2023HGQA0109)the Anhui Provincial Natural Science Foundation(2308085QF204)
文摘Dear Editor,This letter considers the formation control of multiple mobile robot systems(MMRS)that only relies on the local observation information.A new distributed finite-time observer is proposed for MMRS under directed graph to estimate the relative information between each follower robot and the leader robot.Then the formation control problem is transformed into the tracking problem and a finite-time tracking controller is proposed based on the robot model feature.
基金supported by the National Natural Science Foundation of China(62403393,12202058,62103118)the China Postdoctoral Science Foundation(2021T140160,2023 T160051)the Natural Science Foundation of Chongqing(CSTB 2023NSCQ-MSX0152)
文摘Dear Editor,This letter deals with the stabilization problem of nonlinear stochastic systems via self-triggered impulsive control(STIC), where the timing of impulsive control actions is not dependent on continuous state monitoring. In contrast to the existing self-triggered control method, novel self-triggered mechanism(STM) is proposed by incorporating a waiting time for stabilizing impulses. This allows for direct prediction of the next impulsive instant.
基金supported by National Natural Science Foundation of China(No.52302472)。
文摘The development of the adaptive cycle engine is a crucial direction of advanced fighter power sources in the near future.However,this new technology brings more uncertainty to the design of the control system.To address the versatile thrust demand under complex dynamic characteristics of the adaptive cycle engine,this paper proposes a direct thrust estimation and control method based on the Model-Free Adaptive Control(MFAC)algorithm.First,an improved Sliding Mode Control-MFAC(SMC-MFAC)algorithm has been developed by introducing a sliding mode variable structure into the standard Full Format Dynamic Linearization-MFAC(FFDL-MFAC)and designing self-adaptive weight coefficients.Then a trivariate double-loop direct thrust control structure with a controller-based thrust estimator and an outer command compensation loop has been established.Through thrust feedback and command correction,accurate control under multi-mode and operation conditions is achieved.The main contribution of this paper is the improved algorithm that combines the tracking capability of the MFAC and the robustness of the SMC,thus enhancing the dynamic performance.Considering the requirements of the online thrust feedback,the designed MFAC-based thrust estimator significantly speeds up the calculation.Additionally,the proposed command correction module can achieve the adaptive thrust control without affecting the operation of the inner loop.Simulations and Hardware-in-Loop(HIL)experiments have been performed on an adaptive cycle engine component-level model to investigate the estimation and control effect under different modes and health conditions.The results demonstrate that both the thrust estimation precision and operation speed are significantly improved compared with Extended Kalman Filter(EKF).Furthermore,the system can accelerate the response of the controlled plant,reduce the overshoot,and realize the thrust recovery within the safety range when the engine encounters the degradation.
基金supported in part by the National Natural Science Foundation of China(61873348,6230 3266,62273200)JSPS(Japan Society for the Promotion of Science) KAKENHI(22H03998,23K25252)
文摘Dear Editor,This letter presents an improved repetitive controller(IRC) that uses a complex-coefficient filter to enhance the tracking performance of a system for periodic signals. Compared with the low-pass filter used in the conventional repetitive controller(CRC), the complex-coefficient filter causes less change in the phase and amplitude of a signal at the frequencies of the periodic signal, especially at the fundamental frequency, when the two filters have the same cutofffrequency.
基金supported in part by the Science and Technology Innovation Program of Hunan Province under Grant 2022RC4028in part by the National Natural Science Foundation of China under Grant 62473204+3 种基金in part by the Chunhui Program Collaborative Scientific Research Project under Grant 202202004in part by the Natural Science Foundation of Nanjing University of Posts and Telecommunications under Grants NY221082,NY222144,and NY223075in part by the Huali Program for Excellent Talents in Nanjing University of Posts and Telecommunicationsin part by the Postgraduate Research and Practice Innovation Program of Jiangsu Province under Grant KYCX24_1215.
文摘Modern automated generation control(AGC)is increasingly complex,requiring precise frequency control for stability and operational accuracy.Traditional PID controller optimisation methods often struggle to handle nonlinearities and meet robustness requirements across diverse operational scenarios.This paper introduces an enhanced strategy using a multi-objective optimisation framework and a modified non-dominated sorting genetic algorithm Ⅱ(SNSGA).The proposed model optimises the PID controller by minimising key performance metrics:integration time squared error(ITSE),integration time absolute error(ITAE),and rate of change of deviation(J).This approach balances convergence rate,overshoot,and oscillation dynamics effectively.A fuzzy-based method is employed to select the most suitable solution from the Pareto set.The comparative analysis demonstrates that the SNSGA-based approach offers superior tuning capabilities over traditional NSGA-Ⅱ and other advanced control methods.In a two-area thermal power system without reheat,the SNSGA significantly reduces settling times for frequency deviations:2.94s for Δf_(1) and 4.98s for Δf_(2),marking improvements of 31.6%and 13.4%over NSGA-Ⅱ,respectively.
基金Supported by Key R&D Project of Zhejiang(Grant No.2022C02052)。
文摘Tracking control of tendon-driven manipulators has become a prevalent research area.However,the existence of flexible elastic tendons generates substantial residual vibrations,resulting in difficulties for trajectory tracking control of the manipulator.This paper proposes the radial basis function neural network adaptive hierarchical sliding mode control(RBFNNA-HSMC)method,which combines the dynamic model of the elastic tendon-driven manipulator(ETDM)with radial basis neural network adaptive control and hierarchical sliding mode control technology.The aim is to achieve trajectory tracking control of ETDM even under conditions of model inaccuracy and disturbance.The Lyapunov stability theory demonstrates the stability of the proposed RBFNNA-HSM controller.In order to assess the effectiveness and adaptability of the proposed control method,simulations and experiments were performed on a two-DOF ETDM.The RBFNNA-HSM method shows superior tracking accuracy compared to traditional modelbased HSM control.The experiment shows that the maximum tracking error for ETDM double-joint trajectory tracking is below 2.593×10-3rad and 1.624×10-3rad,respectively.
基金supported by the National Natural Science Foundation of China(62073094)the Fundamental Research Funds for the Central Universities(3072024GH0404)
文摘Dear Editor,This letter addresses the formation control problem for constrained underactuated autonomous underwater vehicles (AUVs). The feasibility condition of the virtual control law is eliminated by introducing a nonlinear state dependence function (NSDF) that transforms the state of each AUV in the formation.
基金supported by the National Natural Science Foundation of China(Grant Nos.12441502,12122506,12204230,and 12404554)the National Science and Technology Major Project of the Ministry of Science and Technology of China(2024ZD0300404)+6 种基金Guangdong Basic and Applied Basic Research Foundation(Grant No.2021B1515020070)Shenzhen Science and Technology Program(Grant No.RCYX20200714114522109)China Postdoctoral Science Foundation(CPSF)(2024M762114)Postdoctoral Fellowship Program of CPSF(GZC20231727)supported by the National Natural Science Foundation of China(Grant Nos.92165206 and 11974330)Innovation Program for Quantum Science and Technology(Grant No.2021ZD0301603)the Fundamental Research Funds for the Central Universities。
文摘We present a robust quantum optimal control framework for implementing fast entangling gates on ion-trap quantum processors.The framework leverages tailored laser pulses to drive the multiple vibrational sidebands of the ions to create phonon-mediated entangling gates and,unlike the state of the art,requires neither weakcoupling Lamb-Dicke approximation nor perturbation treatment.With the application of gradient-based optimal control,it enables finding amplitude-and phase-modulated laser control protocols that work without the Lamb-Dicke approximation,promising gate speeds on the order of microseconds comparable to the characteristic trap frequencies.Also,robustness requirements on the temperature of the ions and initial optical phase can be conveniently included to pursue high-quality fast gates against experimental imperfections.Our approach represents a step in speeding up quantum gates to achieve larger quantum circuits for quantum computation and simulation,and thus can find applications in near-future experiments.
基金supported by the National Science Fund for Distinguished Young Scholars(Grant No.T2225027)the National Key R&D Program of China(Grant No.2023YFA1608902).
文摘Maintaining stable high temperatures under pressure remains a challenge in high-pressure,high-temperature experiments using multi-anvil presses(MAPs).Temperature fluctuations exceeding 10℃ at high pressures are common and particularly problematic with LaCrO_(3) heaters,which can experience significant power fluctuations and even failure due to substantial resistance changes—an issue conventional thyristorcontrolled heating systems cannot effectively manage.To address this limitation,we have developed the Multi-Anvil Stable Temperature controller(MASTer),a high-performance heating system optimized for MAP experiments.MASTer enables precise,high-speed measurement of heating parameters and power output control,incorporating a gentle regulation strategy to enhance stability.It ensures consistent heating across various heater types,including LaCrO_(3),with power fluctuations limited to±0.1 W and temperature fluctuations to within±2℃ in most cases.The design,operating principles,user interface,functionality,and performance of the heating system are discussed in detail.
基金supported in part by the National Key Research and Development Program of China(2021YFE0206100)the National Natural Science Foundation of China(62425310,62073321)+2 种基金the National Defense Basic Scientific Research Program(JCKY2019203C029,JCKY2020130C025)the Science and Technology Development FundMacao SAR(FDCT-22-009-MISE,0060/2021/A2,0015/2020/AMJ)
文摘This paper highlights the utilization of parallel control and adaptive dynamic programming(ADP) for event-triggered robust parallel optimal consensus control(ETRPOC) of uncertain nonlinear continuous-time multiagent systems(MASs).First, the parallel control system, which consists of a virtual control variable and a specific auxiliary variable obtained from the coupled Hamiltonian, allows general systems to be transformed into affine systems. Of interest is the fact that the parallel control technique's introduction provides an unprecedented perspective on eliminating the negative effects of disturbance. Then, an eventtriggered mechanism is adopted to save communication resources while ensuring the system's stability. The coupled HamiltonJacobi(HJ) equation's solution is approximated using a critic neural network(NN), whose weights are updated in response to events. Furthermore, theoretical analysis reveals that the weight estimation error is uniformly ultimately bounded(UUB). Finally,numerical simulations demonstrate the effectiveness of the developed ETRPOC method.
基金State Key Laboratory of Intelligent Green Vehicle and Mobility,Grant/Award Number:KFY2417Science and Technology Innovation 2030-“New Generation Artificial Intelligence”Major Project,Grant/Award Number:2022ZD0116305+7 种基金State Key Laboratory of Intelligent Vehicle Safety Technology,Grant/Award Number:IVSTSKL-202402Anhui Province Natural Science Funds for Distinguished Young Scholar,Grant/Award Number:2308085J02National Natural Science Foundation of China,Grant/Award Numbers:U2013601,U20A20225Wuhu Major Scientific and Technological Achievements Engineering Project,Grant/Award Number:2021zc04CAAI-Huawei Mind Spore Open Fund,Grant/Award Number:CAAIXSJLJJ-2022-011ANatural Science Foundation of Hefei,China,Grant/Award Number:202321State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body,Grant/Award Number:32215010Wuhu Municipal Science and Technology Program,Grant/Award Number:2021hg17。
文摘Active Disturbance Rejection Control(ADRC)possesses robust disturbance rejection capabilities,making it well-suited for longitudinal velocity control.However,the conventional Extended State Observer(ESO)in ADRC fails to fully exploit feedback from first-order and higher-order estimation errors and tracking error simultaneously,thereby diminishing the control performance of ADRC.To address this limitation,an enhanced car-following algorithm utilising ADRC is proposed,which integrates the improved ESO with a feedback controller.In comparison to the conventional ESO,the enhanced version effectively utilises multi-order estimation and tracking errors.Specifically,it enhances convergence rates by incorporating feedback from higher-order estimation errors and ensures the estimated value converges to the reference value by utilising tracking error feedback.The improved ESO significantly enhances the disturbance rejection performance of ADRC.Finally,the effectiveness of the proposed algorithm is validated through the Lyapunov approach and experiments.
基金supported in part by an International Research Partnership“Electrical Engineering-Thai French Research Center(EE-TFRC)”under the project framework of the Lorraine Universite´d’Excellence(LUE)in cooperation between Universite´de Lorraine(France)and King Mongkut’s University of Technology North Bangkok(year 2021-2024/2025-28)by the National Research Council of Thailand(NRCT)under Research Team Promotion Grant(Senior Research Scholar Program)under Grant No.N42A 680561by the NSRF via the Program Management Unit for Human Resources&Institutional Development,Research and Innovation under Research project Grant No.B41G680025.
文摘Permanent Magnet Synchronous Motors(PMSMs)are widely employed in high-performance drive applications due to their superior efficiency and dynamic capabilities.However,their control remains challenging owing to nonlinear dynamics,parameter variations,and unmeasurable external disturbances,particularly load torquefluctuations.This study proposes an enhanced Interconnection and Damp-ing Assignment Passivity-Based Control(IDA-PBC)scheme,formulated within the port-controlled Hamiltonian(PCH)framework,to address these limitations.A nonlinear disturbance observer is embedded to estimate and compensate,in real time,for lumped mis-matched disturbances arising from parameter uncertainties and external loads.Additionally,aflatness-based control strategy is employed to generate the desired current references within the nonlinear drive system,ensuring accurate tracking of time-varying speed commands.This integrated approach preserves the system’s energy-based structure,enabling systematic stability analysis while enhancing robustness.The proposed control architecture also maintains low complexity with a limited number of tunable parameters,facilitating practical implementation.Simulation and experimental results under various operating conditions demonstrate the effectiveness and robustness of the proposed method.Comparative analysis with conventional proportional-integral(PI)control and standard IDA-PBC strategies confirms its capability to handle disturbances and maintain dynamic performance.
