This paper studies the tracking control problem for stratospheric airships with userspecified performance.Dealing with the infinite gain phenomenon in the prescribed-time stability,a new stability criterion with bound...This paper studies the tracking control problem for stratospheric airships with userspecified performance.Dealing with the infinite gain phenomenon in the prescribed-time stability,a new stability criterion with bounded gain is proposed by using a new time-varying scaling function.Moreover,a same-side performance function and a novel barrier Lyapunov function are incorporated into the control algorithm,which can compress the feasible domain of tracking error to minimize the overshoot and solve the difficult in tracking error not converging to zero simultaneously.The proposed scheme guarantees the airship capable of operating autonomously with satisfactory transient performance and tracking accuracy,where the performance parameters can be designed artificially and link to the physical process directly.Finally,the effectiveness of the proposed control scheme is verified by theoretical analysis and numerical simulation.展开更多
This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance system...This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.展开更多
This paper investigates the problem of robust output regulation control with prospected transient property for strict feedback systems.By employing the internal model principle,the robust output regulation problem wit...This paper investigates the problem of robust output regulation control with prospected transient property for strict feedback systems.By employing the internal model principle,the robust output regulation problem with a prospected property can be transformed to a robust stabilization problem with a new output constraint.Then,by constructing the speed function and adopting barrier Lyapunov function technique,the dynamic feedback controller can be designed not only to drive error output of the closed-loop system entering into a prescribed performance bound within a given finite time,but also to achieve that the error output converges to zero asymptotically.The effectiveness of the results is illustrated by a simulation example.展开更多
In this paper, distributed event-triggered performance constraint control is proposed for Heterogeneous Multiagent Systems (HMASs) including quadrotor unmanned aerial vehicles and unmanned ground vehicles in the prese...In this paper, distributed event-triggered performance constraint control is proposed for Heterogeneous Multiagent Systems (HMASs) including quadrotor unmanned aerial vehicles and unmanned ground vehicles in the presence of unknown external disturbances. To tackle the problem of different dynamic characteristics and facilitate the controller design, the virtual variable is introduced in the z axis of the nonlinear model of unmanned ground vehicles. By using this approach, a universal model is established for the HMAS. Moreover, a distributed disturbance observer is established to cope with the adverse influence of the external disturbances. Then, an Appointed-Time Prescribed Performance Function (ATPPF) is designed to restrict the tracking error in the predefined regions. On this basis, the distributed performance constraint controller is proposed for the HMAS based on the ATPPF and the distributed disturbance observer. Furthermore, the improved event-triggered mechanism is proposed with a dynamic threshold, which depends on the distance between the tracking error and the boundary of the ATPPF. Finally, the effectiveness of the proposed control method is verified by the comparative experiments on an HMAS.展开更多
In this paper,the adaptive tracking control problem for macro-micro composite positioning stage(MMCPS)with error constraints and input saturation is considered.The MMCPS has important applications in realizing high-sp...In this paper,the adaptive tracking control problem for macro-micro composite positioning stage(MMCPS)with error constraints and input saturation is considered.The MMCPS has important applications in realizing high-speed macromotion and high-precision micromotion,which can be regarded as a non-strict feedback interconnected nonlinear system.A fixed-time prescribed performance(FTPP)function is proposed to restrict the tracking error and virtual errors.Based on the designed barrier Lyapunov function,the transform errors can also be constrainted in the prescribed constant bounds.Furthermore,an auxiliary system is constructed to compensate adverse effect of the saturation nonlinearity.By integrating the nonlinear filtering technique into the backstepping control framework,the problem of computational complexity explosion can be effectively avoided.For the purpose of achieving better transient performance and improving control precision,an adaptive FTPP tracking control method is presented.According to the Lyapunov stability theory,the proposed control method guarantees that all dynamic errors can converge to the prescribed bounds within fixed time.Finally,a simulation example is given to indicate the effectiveness of the designed controller.展开更多
In this paper,we present a novel adaptive performance control approach for strict-feedback nonparametric systems with unknown time-varying control coefficients,which mainly includes the following steps.Firstly,by intr...In this paper,we present a novel adaptive performance control approach for strict-feedback nonparametric systems with unknown time-varying control coefficients,which mainly includes the following steps.Firstly,by introducing several key transformation functions and selecting the initial value of the time-varying scaling function,the symmetric prescribed performance with global and semi-global properties can be handled uniformly,without the need for control re-design.Secondly,to handle the problem of unknown time-varying control coefficient with an unknown sign,we propose an enhanced Nussbaum function(ENF)bearing some unique properties and characteristics,with which the complex stability analysis based on specific Nussbaum functions as commonly used is no longer required.Thirdly,by utilizing the core-function information technique,the nonparametric uncertainties in the system are gracefully handled so that no approximator is required.Furthermore,simulation results verify the effectiveness and benefits of the approach.展开更多
A prescribed performance adaptive control(PPAC)is proposed for Hammerstein system where nonlinearity is described by backlash-like hysteresis.In order to simplify the controller design as well as guarantee the precisi...A prescribed performance adaptive control(PPAC)is proposed for Hammerstein system where nonlinearity is described by backlash-like hysteresis.In order to simplify the controller design as well as guarantee the precision of the controlled system,the tracking error is transformed into performance error by two steps.The first step is to transform the tracking error into scalar error,but it magnifies the tracking error decreasing the accuracy of the controlled system.Therefore,a new S(z)is proposed for prescribed performance function(PPF)and the second step is transforming the scalar error into performance error by the proposed PPF,which guarantees the scalar error converges to a prescribed bound to improve the control accuracy.Finally,Lambert W function is introduced for the Lyapunov function candidate to guarantee the closed-loop system bounded and the tracking error converged.Simulations demonstrate the effectiveness of the proposed approaches.展开更多
Aggregate thermostatically controlled loads(AT-CLs)are a suitable candidate for power imbalance on demand side to smooth the power fluctuation of renewable energy.A new control scheme based on an improved bilinear agg...Aggregate thermostatically controlled loads(AT-CLs)are a suitable candidate for power imbalance on demand side to smooth the power fluctuation of renewable energy.A new control scheme based on an improved bilinear aggregate model of ATCLs is investigated to suppress power imbalance.Firstly,the original bilinear aggregate model of ATCLs is extended by the second-order equivalent thermal parameter model to optimize accumulative error over a long time scale.Then,to ensure the control performance of tracking error,an improved model predictive control algorithm is proposed by integrating the Lyapunov function with the error transformation,and theoretical stability of the proposed control algorithm is proven.Finally,the simulation results demonstrate that the accuracy of the improved bilinear aggregate model is enhanced;the proposed control algorithm has faster convergence speed and better tracking accuracy in contrast with the Lyapunov function-based model predictive control without the prescribed performance.展开更多
This study focuses on the attitude control of spacecraft subject to actuator faults,disturbances,and uncertainties.Traditional prescribed performance control tends to suffer from control singularities caused by satura...This study focuses on the attitude control of spacecraft subject to actuator faults,disturbances,and uncertainties.Traditional prescribed performance control tends to suffer from control singularities caused by saturation under faults and diverse initial conditions,limiting its applicability in practical scenarios.To overcome these challenges,Elastic Prescribed Control(EPC)is proposed in this study firstly,which introduces a novel appointed-time performance function that allows elastic adjustment of performance boundaries.EPC effectively mitigates control singularities caused by faults and unknown initial conditions through elastic and initial capture mechanisms,enhancing system robustness and reducing conservatism.Furthermore,an improved Dynamic Coded Event-triggered Scheme(DCES)is proposed,featuring adaptive dynamic coding that adjusts the number of encoding bits based on performance demands and communication resource usage.This significantly reduces communication frequency and bit consumption while preserving performance.Finally,simulations validate the effectiveness of the proposed method in constraining tracking errors to the desired range under arbitrary initial conditions,ensuring the expected elastic prescribed performance,and reducing communication resource consumption.展开更多
基金supported by the National Natural Science Foundation of China(Nos.51775021,52302511)the Fundamental Research Funds for the Central Universities,China(Nos.501JCGG2024129003,501JCGG2024129005,501JCGG2024129006),the Fundamental Research Funds for the Central Universities,China(No.YWF-24-JC-09)the National Key Research and Development Program of China(No.2018YFC1506401)。
文摘This paper studies the tracking control problem for stratospheric airships with userspecified performance.Dealing with the infinite gain phenomenon in the prescribed-time stability,a new stability criterion with bounded gain is proposed by using a new time-varying scaling function.Moreover,a same-side performance function and a novel barrier Lyapunov function are incorporated into the control algorithm,which can compress the feasible domain of tracking error to minimize the overshoot and solve the difficult in tracking error not converging to zero simultaneously.The proposed scheme guarantees the airship capable of operating autonomously with satisfactory transient performance and tracking accuracy,where the performance parameters can be designed artificially and link to the physical process directly.Finally,the effectiveness of the proposed control scheme is verified by theoretical analysis and numerical simulation.
基金the National Natural Science Foundation of China(Grant No.12072090).
文摘This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.
基金supported by the National Natural Science Foundation of China(61873219)。
文摘This paper investigates the problem of robust output regulation control with prospected transient property for strict feedback systems.By employing the internal model principle,the robust output regulation problem with a prospected property can be transformed to a robust stabilization problem with a new output constraint.Then,by constructing the speed function and adopting barrier Lyapunov function technique,the dynamic feedback controller can be designed not only to drive error output of the closed-loop system entering into a prescribed performance bound within a given finite time,but also to achieve that the error output converges to zero asymptotically.The effectiveness of the results is illustrated by a simulation example.
基金supported in part by the National Natural Science Foundation of China(Nos.U23B2036,U2013201).
文摘In this paper, distributed event-triggered performance constraint control is proposed for Heterogeneous Multiagent Systems (HMASs) including quadrotor unmanned aerial vehicles and unmanned ground vehicles in the presence of unknown external disturbances. To tackle the problem of different dynamic characteristics and facilitate the controller design, the virtual variable is introduced in the z axis of the nonlinear model of unmanned ground vehicles. By using this approach, a universal model is established for the HMAS. Moreover, a distributed disturbance observer is established to cope with the adverse influence of the external disturbances. Then, an Appointed-Time Prescribed Performance Function (ATPPF) is designed to restrict the tracking error in the predefined regions. On this basis, the distributed performance constraint controller is proposed for the HMAS based on the ATPPF and the distributed disturbance observer. Furthermore, the improved event-triggered mechanism is proposed with a dynamic threshold, which depends on the distance between the tracking error and the boundary of the ATPPF. Finally, the effectiveness of the proposed control method is verified by the comparative experiments on an HMAS.
基金supported by the National Natural Science Foundation of China(Grant Nos.62403143,52475435,52305456)the National Key Research and Development Program of China(Grant No.2024YFB4610700)+2 种基金the Guangdong Basic and Applied Basic Research Foundation(Grant Nos.2025A1515011789,2025A1515010143,2023A1515010855)the China Postdoctoral Science Foundation(Grant Nos.2025T180472,2024M750576,2024M760581)the Postdoctoral Fellowship Program(Grade C)of China Postdoctoral Science Foundation(Grant Nos.GZC20240312,GZC20230569)。
文摘In this paper,the adaptive tracking control problem for macro-micro composite positioning stage(MMCPS)with error constraints and input saturation is considered.The MMCPS has important applications in realizing high-speed macromotion and high-precision micromotion,which can be regarded as a non-strict feedback interconnected nonlinear system.A fixed-time prescribed performance(FTPP)function is proposed to restrict the tracking error and virtual errors.Based on the designed barrier Lyapunov function,the transform errors can also be constrainted in the prescribed constant bounds.Furthermore,an auxiliary system is constructed to compensate adverse effect of the saturation nonlinearity.By integrating the nonlinear filtering technique into the backstepping control framework,the problem of computational complexity explosion can be effectively avoided.For the purpose of achieving better transient performance and improving control precision,an adaptive FTPP tracking control method is presented.According to the Lyapunov stability theory,the proposed control method guarantees that all dynamic errors can converge to the prescribed bounds within fixed time.Finally,a simulation example is given to indicate the effectiveness of the designed controller.
基金supported in part by the National Key Research and Development Program of China(2021ZD0201300)in part by the National Natural Science Foundation of China(61860206008,61933012)。
文摘In this paper,we present a novel adaptive performance control approach for strict-feedback nonparametric systems with unknown time-varying control coefficients,which mainly includes the following steps.Firstly,by introducing several key transformation functions and selecting the initial value of the time-varying scaling function,the symmetric prescribed performance with global and semi-global properties can be handled uniformly,without the need for control re-design.Secondly,to handle the problem of unknown time-varying control coefficient with an unknown sign,we propose an enhanced Nussbaum function(ENF)bearing some unique properties and characteristics,with which the complex stability analysis based on specific Nussbaum functions as commonly used is no longer required.Thirdly,by utilizing the core-function information technique,the nonparametric uncertainties in the system are gracefully handled so that no approximator is required.Furthermore,simulation results verify the effectiveness and benefits of the approach.
基金supported by Shandong Natural Science Foundation of China under Grant No.ZR2017MF048the National Natural Science Foundation of China under Grant No.61433003+3 种基金Shandong Key Research and Development Programme under Grant No.2016GGX105013Shandong Science and Technology Program of Higher Education under Grant No.J17KA214Scientific Research Foundation of Shandong University of Science and Technology for Recruited Talents under Grant No.2016RCJJ035Tai’an Science and Technology Development Program under Grant No.2017GX0017
文摘A prescribed performance adaptive control(PPAC)is proposed for Hammerstein system where nonlinearity is described by backlash-like hysteresis.In order to simplify the controller design as well as guarantee the precision of the controlled system,the tracking error is transformed into performance error by two steps.The first step is to transform the tracking error into scalar error,but it magnifies the tracking error decreasing the accuracy of the controlled system.Therefore,a new S(z)is proposed for prescribed performance function(PPF)and the second step is transforming the scalar error into performance error by the proposed PPF,which guarantees the scalar error converges to a prescribed bound to improve the control accuracy.Finally,Lambert W function is introduced for the Lyapunov function candidate to guarantee the closed-loop system bounded and the tracking error converged.Simulations demonstrate the effectiveness of the proposed approaches.
基金the key projects in 2018 National Key R&D Programs(No.2018YFE0122200)the Fundamental Research Funds for the Central Universities(No.2020MS090)opening project of Hebei Smart Grid Distribution and Utilization Technology Innovation Center(No.20200803).
文摘Aggregate thermostatically controlled loads(AT-CLs)are a suitable candidate for power imbalance on demand side to smooth the power fluctuation of renewable energy.A new control scheme based on an improved bilinear aggregate model of ATCLs is investigated to suppress power imbalance.Firstly,the original bilinear aggregate model of ATCLs is extended by the second-order equivalent thermal parameter model to optimize accumulative error over a long time scale.Then,to ensure the control performance of tracking error,an improved model predictive control algorithm is proposed by integrating the Lyapunov function with the error transformation,and theoretical stability of the proposed control algorithm is proven.Finally,the simulation results demonstrate that the accuracy of the improved bilinear aggregate model is enhanced;the proposed control algorithm has faster convergence speed and better tracking accuracy in contrast with the Lyapunov function-based model predictive control without the prescribed performance.
基金supported in part by the National Natural Science Foundation of China(No.61427809)。
文摘This study focuses on the attitude control of spacecraft subject to actuator faults,disturbances,and uncertainties.Traditional prescribed performance control tends to suffer from control singularities caused by saturation under faults and diverse initial conditions,limiting its applicability in practical scenarios.To overcome these challenges,Elastic Prescribed Control(EPC)is proposed in this study firstly,which introduces a novel appointed-time performance function that allows elastic adjustment of performance boundaries.EPC effectively mitigates control singularities caused by faults and unknown initial conditions through elastic and initial capture mechanisms,enhancing system robustness and reducing conservatism.Furthermore,an improved Dynamic Coded Event-triggered Scheme(DCES)is proposed,featuring adaptive dynamic coding that adjusts the number of encoding bits based on performance demands and communication resource usage.This significantly reduces communication frequency and bit consumption while preserving performance.Finally,simulations validate the effectiveness of the proposed method in constraining tracking errors to the desired range under arbitrary initial conditions,ensuring the expected elastic prescribed performance,and reducing communication resource consumption.
