The new energy power generation is becoming increasingly important in the power system.Such as photovoltaic power generation has become a research hotspot,however,due to the characteristics of light radiation changes,...The new energy power generation is becoming increasingly important in the power system.Such as photovoltaic power generation has become a research hotspot,however,due to the characteristics of light radiation changes,photovoltaic power generation is unstable and random,resulting in a low utilization rate and directly affecting the stability of the power grid.To solve this problem,this paper proposes a coordinated control strategy for a newenergy power generation system with a hybrid energy storage unit based on the lithium iron phosphate-supercapacitor hybrid energy storage unit.Firstly,the variational mode decomposition algorithm is used to separate the high and low frequencies of the power signal,which is conducive to the rapid and accurate suppression of the power fluctuation of the energy storage system.Secondly,the fuzzy control algorithm is introduced to balance the power between energy storage.In this paper,the actual data is used for simulation,and the simulation results show that the strategy realizes the effective suppression of the bus voltage fluctuation and the accurate control of the internal state of the energy storage unit,effectively avoiding problems such as overshoot and over-discharge,and can significantly improve the stability of the photovoltaic power generation systemand the stability of the Direct Current bus.It is of great significance to promote the development of collaborative control technology for photovoltaic hybrid energy storage units.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
The development of chassis active safety control technology has improved vehicle stability under extreme conditions.However,its cross-system and multi-functional characteristics make the controller difficult to achiev...The development of chassis active safety control technology has improved vehicle stability under extreme conditions.However,its cross-system and multi-functional characteristics make the controller difficult to achieve cooperative goals.In addition,the chassis system,which has high complexity,numerous subsystems,and strong coupling,will also lead to low computing efficiency and poor control effect of the controller.Therefore,this paper proposes a scenario-driven hybrid distributed model predictive control algorithm with variable control topology.This algorithm divides multiple stability regions based on the vehicle’s β−γ phase plane,forming a mapping relationship between the control structure and the vehicle’s state.A control input fusion mechanism within the transition domain is designed to mitigate the problems of system state oscillation and control input jitter caused by switching control structures.Then,a distributed state-space equation with state coupling and input coupling characteristics is constructed,and a weighted local agent cost function in quadratic programming is derived.Through cost coupling,local agents can coordinate global performance goals.Finally,through Simulink/CarSim joint simulation and hardware-in-the-loop(HIL)test,the proposed algorithm is validated to improve vehicle stability while ensuring trajectory tracking accuracy and has good applicability for multi-objective coordinated control.This paper combines the advantages of distributed MPC and decentralized MPC,achieving a balance between approximating the global optimal results and the solution’s efficiency.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
The cooperative control and stability analysis problems for the multi-agent system with sampled com- munication are investigated. Distributed state feedback controllers are adopted for the cooperation of networked age...The cooperative control and stability analysis problems for the multi-agent system with sampled com- munication are investigated. Distributed state feedback controllers are adopted for the cooperation of networked agents. A theorem in the form of linear matrix inequalities（LMI） is derived to analyze the system stability. An- other theorem in the form of optimization problem subject to LMI constraints is proposed to design the controller, and then the algorithm is presented. The simulation results verify the validity and the effectiveness of the pro- posed approach.展开更多
This paper considers the human-in-the-loop leader-following consensus control problem of multi-agent systems(MASs)with unknown matched nonlinear functions and actuator faults.It is assumed that a human operator contro...This paper considers the human-in-the-loop leader-following consensus control problem of multi-agent systems(MASs)with unknown matched nonlinear functions and actuator faults.It is assumed that a human operator controls the MASs via sending the command signal to a non-autonomous leader which generates the desired trajectory.Moreover,the leader’s input is nonzero and not available to all followers.By using neural networks and fault estimators to approximate unknown nonlinear dynamics and identify the actuator faults,respectively,the neighborhood observer-based neural fault-tolerant controller with dynamic coupling gains is designed.It is proved that the state of each follower can synchronize with the leader’s state under a directed graph and all signals in the closed-loop system are guaranteed to be cooperatively uniformly ultimately bounded.Finally,simulation results are presented for verifying the effectiveness of the proposed control method.展开更多
In this paper, we focus on circle formation control of multi-agent systems （MAS） with a leader. The circle formation is achieved based on the lead-following and the artificial potential field method. A distributed c...In this paper, we focus on circle formation control of multi-agent systems （MAS） with a leader. The circle formation is achieved based on the lead-following and the artificial potential field method. A distributed control law is given to make a group of agents form a circle and consequently achieve an expected angle. Finally, simulation results show that the proposed circle formation strategies are effective.展开更多
In this paper,periodic event-triggered formation control problems with collision avoidance are studied for leader–follower multiple Unmanned Aerial Vehicles(UAVs).Firstly,based on the Artificial Potential Field(APF)m...In this paper,periodic event-triggered formation control problems with collision avoidance are studied for leader–follower multiple Unmanned Aerial Vehicles(UAVs).Firstly,based on the Artificial Potential Field(APF)method,a novel sliding manifold is proposed for controller design,which can solve the problem of collision avoidance.Then,the event-triggered strategy is applied to the distributed formation control of multi-UAV systems,where the evaluation of the event condition is continuous.In addition,the exclusion of Zeno behavior can be guaranteed by the inter-event time between two successive trigger events have a positive lower bound.Next,a periodic event-triggered mechanism is developed for formation control based on the continuous eventtriggered mechanism.The periodic trigger mechanism does not need additional hardware circuits and sophisticated sensors,which can reduce the control cost.The stability of the control system is proved by the Lyapunov function method.Finally,some numerical simulations are presented to illustrate the effectiveness of the proposed control protocol.展开更多
This paper considers a fault-tolerant control and vibration suppression problem of flexible spacecraft.The attitude dynamics is modeled by an interconnected system,in which the rigid part and the flexible part are cou...This paper considers a fault-tolerant control and vibration suppression problem of flexible spacecraft.The attitude dynamics is modeled by an interconnected system,in which the rigid part and the flexible part are coupled with each other.Such a model allows us to use the interconnected system approach to analyze the flexible spacecraft.Both distributed and decentralized observer-based fault-tolerant control schemes are developed,under which the closed-loop stability of flexible spacecraft can be ensured by using the cycle-small-gain theorem.Compared with the traditional method,this paper considers the faults occurred not only in the rigid parts,but also in the flexible parts.In addition,the application of the interconnected system approach simplifies the system model of flexible spacecraft,thereby the difficulty of theoretical analysis and engineering practice of fault-tolerant control of flexible spacecraft are greatly reduced.Simulation results show the effectiveness of the proposed methods and the comparison of different fault-tolerant control approach.展开更多
This paper investigates the distributed fault-tolerant containment control(FTCC)problem of nonlinear multi-agent systems(MASs)under a directed network topology.The proposed control framework which is independent on th...This paper investigates the distributed fault-tolerant containment control(FTCC)problem of nonlinear multi-agent systems(MASs)under a directed network topology.The proposed control framework which is independent on the global information about the communication topology consists of two layers.Different from most existing distributed fault-tolerant control(FTC)protocols where the fault in one agent may propagate over network,the developed control method can eliminate the phenomenon of fault propagation.Based on the hierarchical control strategy,the FTCC problem with a directed graph can be simplified to the distributed containment control of the upper layer and the fault-tolerant tracking control of the lower layer.Finally,simulation results are given to demonstrate the effectiveness of the proposed control protocol.展开更多
In this paper,the event-triggered consensus control problem for nonlinear uncertain multi-agent systems subject to unknown parameters and external disturbances is considered.The dynamics of subsystems are second-order...In this paper,the event-triggered consensus control problem for nonlinear uncertain multi-agent systems subject to unknown parameters and external disturbances is considered.The dynamics of subsystems are second-order with similar structures,and the nodes are connected by undirected graphs.The event-triggered mechanisms are not only utilized in the transmission of information from the controllers to the actuators,and from the sensors to the controllers within each agent,but also in the communication between agents.Based on the adaptive backstepping method,extra estimators are introduced to handle the unknown parameters,and the measurement errors that occur during the event-triggered communication are well handled by designing compensating terms for the control signals.The presented distributed event-triggered adaptive control laws can guarantee the boundness of the consensus tracking errors and the Zeno behavior is avoided.Meanwhile,the update frequency of the controllers and the load of communication burden are vastly reduced.The obtained control protocol is further applied to a multi-input multi-output second-order nonlinear multi-agent system,and the simulation results show the effectiveness and advantages of our proposed method.展开更多
In this paper,a new distributed consensus tracking protocol incorporating local disturbance rejection is devised for a multi-agent system with heterogeneous dynamic uncertainties and disturbances over a directed graph...In this paper,a new distributed consensus tracking protocol incorporating local disturbance rejection is devised for a multi-agent system with heterogeneous dynamic uncertainties and disturbances over a directed graph.It is of two-degree-of-freedom nature.Specifically,a robust distributed controller is designed for consensus tracking,while a local disturbance estimator is designed for each agent without requiring the input channel information of disturbances.The condition for asymptotic disturbance rejection is derived.Moreover,even when the disturbance model is not exactly known,the developed method also provides good disturbance-rejection performance.Then,a robust stabilization condition with less conservativeness is derived for the whole multi-agent system.Further,a design algorithm is given.Finally,comparisons with the conventional one-degree-of-freedombased distributed disturbance-rejection method for mismatched disturbances and the distributed extended-state observer for matched disturbances validate the developed method.展开更多
Abstract--This paper provides a survey on modeling and theories of networked control systems （NCS）. In the first part, modeling of the different types of imperfections that affect NCS is discussed. These imperfectio...Abstract--This paper provides a survey on modeling and theories of networked control systems （NCS）. In the first part, modeling of the different types of imperfections that affect NCS is discussed. These imperfections are quantization errors, packet dropouts, variable sampling/transmission intervals, vari- able transmission delays, and communication constraints. Then follows in the second part a presentation of several theories that have been applied for controlling networked systems. These theories include： input delay system approach, Markovian system approach, switched system approach, stochastic system approach, impulsive system approach, and predictive control approach. In the last part, some advanced issues in NCS including decentral- ized and distributed NCS, cloud control system, and co-design of NCS are reviewed. Index Terms--Decentralized networked control systems （NCS）, distributed networked control systems, network constraints, net- worked control system, quantization, time delays.展开更多
The chattering characteristic of sliding mode control isanalyzed when it is applied in distributed control systems （DCSs）.For a DCS with random time delay and packet dropout, a discreteswitching system model with ti...The chattering characteristic of sliding mode control isanalyzed when it is applied in distributed control systems （DCSs）.For a DCS with random time delay and packet dropout, a discreteswitching system model with time varying sampling period isconstructed based on the time delay system method. The reachinglaw based sliding mode controller is applied in the proposedsystem. The exponential stability condition in the form of linearmatrix inequality is figured out based on the multi-Lyaponov functionmethod. Then, the chattering characteristic is analyzed for theswitching system, and a chattering region related with time varyingsampling period and external disturbance is proposed. Finally, numericalexamples are given to illustrate the validity of the analysisresult.展开更多
Remote control process system with distributed time-delay has attracted much attention in different fields.In this paper,non-linear remote control of a single tank process system with wireless network is considered.To...Remote control process system with distributed time-delay has attracted much attention in different fields.In this paper,non-linear remote control of a single tank process system with wireless network is considered.To deal with the distributed time-delay in a large-scale plant,the time-delay compensation controller based on DCS devices is designed by using operator theory and particle filter.Distributed control system(DCS)device is developed to monitor and control from the central monitoring room to each process.The particle filter is a probabilistic method to estimate unobservable information from observable information.First,remote control system and experimental equipment are introduced.Second,control system based on an operator theory is designed.Then,process system with distributed time-delay using particle filter is carried out.Finally,the actual experiment is conducted by using the proposed time-delay compensation controller.When estimating with the proposed method,the result is close to the case in which the distributed time-delay does not exist.The effectiveness of the proposed control system is confirmed by experiment results.展开更多
A distributed control system of Neutral Beam Injector （NBI） on the Experimental Advanced Superconducting Tokamak （EAST-NBI） is briefly presented in this paper. The control system is developed in accordance with th...A distributed control system of Neutral Beam Injector （NBI） on the Experimental Advanced Superconducting Tokamak （EAST-NBI） is briefly presented in this paper. The control system is developed in accordance with the experimental operational characteristics of the EAST- NBI. The NBI control system （NBICS）, which is based on the computer network technologies and classified according to the control levels, consists of three levels： a remote monitoring layer, a server control layer, and a field control layer. The 3-layer architecture is capable of extending the system functions and upgrading devices. The timing system provides the reference clock of the synchronization and interlock for the EAST-NBI system. An interlock system ensures the safety of the experiment operators and field devices. Both of the ion sources of the beamline are designed to operate independently. This lays an important foundation for developing a control system for the second beamline on EAST. Experimental results demonstrate that the NBICS meets functional requirements of the EAST-NBI control, and makes experimental operations visual and automatic.展开更多
In this paper,a resilient distributed control scheme against replay attacks for multi-agent networked systems subject to input and state constraints is proposed.The methodological starting point relies on a smart use ...In this paper,a resilient distributed control scheme against replay attacks for multi-agent networked systems subject to input and state constraints is proposed.The methodological starting point relies on a smart use of predictive arguments with a twofold aim:1)Promptly detect malicious agent behaviors affecting normal system operations;2)Apply specific control actions,based on predictive ideas,for mitigating as much as possible undesirable domino effects resulting from adversary operations.Specifically,the multi-agent system is topologically described by a leader-follower digraph characterized by a unique leader and set-theoretic receding horizon control ideas are exploited to develop a distributed algorithm capable to instantaneously recognize the attacked agent.Finally,numerical simulations are carried out to show benefits and effectiveness of the proposed approach.展开更多
This paper considers the coordinated tracking problem for a group of Lagrange systems in the presence of parametric uncertainties.Distributed adaptive controllers are proposed with the aid of Lyapunov techniques.Compa...This paper considers the coordinated tracking problem for a group of Lagrange systems in the presence of parametric uncertainties.Distributed adaptive controllers are proposed with the aid of Lyapunov techniques.Compared with the previous work in the context of networked Lagrange systems control,the results in this paper are suitable for the general digraph communication topologies.Under the condition that the desired trajectory is only available to a portion of Lagrange systems,we discuss the cooperative tracking problem with general digraph communication topology,which contains a spanning tree with the root node being the active target system.Under the case where the neighbor0s velocity is unavailable,a distributed filter is introduced to overcome this deficiency.Experimental results on networked robot-arms are provided to show the effectiveness of the proposed control algorithms.展开更多
To solve the coupling relationship between the strip automatic gauge control and the looper control in traditional control strategy of tandem hot rolling,a distributed model predictive control(DMPC)strategy for the ta...To solve the coupling relationship between the strip automatic gauge control and the looper control in traditional control strategy of tandem hot rolling,a distributed model predictive control(DMPC)strategy for the tandem hot rolling was explored,and a series of simulation experiments were carried out.Firstly,based on the state space analysis method,the multivariable dynamic transition process of hot strip rolling was studied,and the state space model of a gauge-looper integrated system in tandem hot rolling was established.Secondly,DMPC strategy based on neighborhood optimization was proposed,which fully considered the coupling relationship in this integrated system.Finally,a series of experiments simulating disturbances and emergency situations were completed with actual rolling data.The experimental results showed that the proposed DMPC control strategy had better performance compared with the traditional proportional-integral control and centralized model predictive control,which is applicable for the gauge-looper integrated system.展开更多
In recent years, theoretical and practical research on event-based communication strategies has gained considerable research attention due primarily to their irreplaceable superiority in resource-constrained systems（...In recent years, theoretical and practical research on event-based communication strategies has gained considerable research attention due primarily to their irreplaceable superiority in resource-constrained systems（especially networked systems）. For networked systems, event-based transmission scheme is capable of improving the efficiency in resource utilization and prolonging the lifetime of the network components compared with the widely adopted periodic transmission scheme. As such, it would be interesting to 1） examining how the event-triggering mechanisms affect the control or filtering performance for networked systems, and 2） developing some suitable approaches for the controller and filter design problems. In this paper, a bibliographical review is presented on event-based control and filtering problems for various networked systems. First, the event-driven communication scheme is introduced in detail according to its engineering background, characteristic, and representative research frameworks. Then, different event-based control and filtering（or state estimation） problems are categorized and then discussed. Finally, we conclude the paper by outlining future research challenges for event-based networked systems.展开更多
基金supported by the State Grid Corporation of China Science and Technology Project,grant number 52270723000900K.
文摘The new energy power generation is becoming increasingly important in the power system.Such as photovoltaic power generation has become a research hotspot,however,due to the characteristics of light radiation changes,photovoltaic power generation is unstable and random,resulting in a low utilization rate and directly affecting the stability of the power grid.To solve this problem,this paper proposes a coordinated control strategy for a newenergy power generation system with a hybrid energy storage unit based on the lithium iron phosphate-supercapacitor hybrid energy storage unit.Firstly,the variational mode decomposition algorithm is used to separate the high and low frequencies of the power signal,which is conducive to the rapid and accurate suppression of the power fluctuation of the energy storage system.Secondly,the fuzzy control algorithm is introduced to balance the power between energy storage.In this paper,the actual data is used for simulation,and the simulation results show that the strategy realizes the effective suppression of the bus voltage fluctuation and the accurate control of the internal state of the energy storage unit,effectively avoiding problems such as overshoot and over-discharge,and can significantly improve the stability of the photovoltaic power generation systemand the stability of the Direct Current bus.It is of great significance to promote the development of collaborative control technology for photovoltaic hybrid energy storage units.
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 National Natural Science Foundation of China(Grant Nos.52225212,52272418,U22A20100)National Key Research and Development Program of China(Grant No.2022YFB2503302).
文摘The development of chassis active safety control technology has improved vehicle stability under extreme conditions.However,its cross-system and multi-functional characteristics make the controller difficult to achieve cooperative goals.In addition,the chassis system,which has high complexity,numerous subsystems,and strong coupling,will also lead to low computing efficiency and poor control effect of the controller.Therefore,this paper proposes a scenario-driven hybrid distributed model predictive control algorithm with variable control topology.This algorithm divides multiple stability regions based on the vehicle’s β−γ phase plane,forming a mapping relationship between the control structure and the vehicle’s state.A control input fusion mechanism within the transition domain is designed to mitigate the problems of system state oscillation and control input jitter caused by switching control structures.Then,a distributed state-space equation with state coupling and input coupling characteristics is constructed,and a weighted local agent cost function in quadratic programming is derived.Through cost coupling,local agents can coordinate global performance goals.Finally,through Simulink/CarSim joint simulation and hardware-in-the-loop(HIL)test,the proposed algorithm is validated to improve vehicle stability while ensuring trajectory tracking accuracy and has good applicability for multi-objective coordinated control.This paper combines the advantages of distributed MPC and decentralized MPC,achieving a balance between approximating the global optimal results and the solution’s efficiency.
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(91016017)the National Aviation Found of China(20115868009)~~
文摘The cooperative control and stability analysis problems for the multi-agent system with sampled com- munication are investigated. Distributed state feedback controllers are adopted for the cooperation of networked agents. A theorem in the form of linear matrix inequalities（LMI） is derived to analyze the system stability. An- other theorem in the form of optimization problem subject to LMI constraints is proposed to design the controller, and then the algorithm is presented. The simulation results verify the validity and the effectiveness of the pro- posed approach.
基金This work was partially supported by the National Natural Science Foundation of China(62033003,62003098)the Local Innovative and Research Teams Project of Guangdong Special Support Program(2019BT02X353)the China Postdoctoral Science Foundation(2019M662813,2020T130124).
文摘This paper considers the human-in-the-loop leader-following consensus control problem of multi-agent systems(MASs)with unknown matched nonlinear functions and actuator faults.It is assumed that a human operator controls the MASs via sending the command signal to a non-autonomous leader which generates the desired trajectory.Moreover,the leader’s input is nonzero and not available to all followers.By using neural networks and fault estimators to approximate unknown nonlinear dynamics and identify the actuator faults,respectively,the neighborhood observer-based neural fault-tolerant controller with dynamic coupling gains is designed.It is proved that the state of each follower can synchronize with the leader’s state under a directed graph and all signals in the closed-loop system are guaranteed to be cooperatively uniformly ultimately bounded.Finally,simulation results are presented for verifying the effectiveness of the proposed control method.
基金supported by the National Natural Science Foundation of China(No.61233002)the Fundamental Research Funds for the Central Universities(No.N120404019)
文摘In this paper, we focus on circle formation control of multi-agent systems （MAS） with a leader. The circle formation is achieved based on the lead-following and the artificial potential field method. A distributed control law is given to make a group of agents form a circle and consequently achieve an expected angle. Finally, simulation results show that the proposed circle formation strategies are effective.
基金supported in part by the Foundation(No.2019-JCJQ-ZD-049)the National Natural Science Foundation of China(Nos.61703134,62022060,62073234,61773278)+2 种基金The China Postdoctoral Science Foundation(No.2019M650874)The Key R&D Program of Hebei Province(No.20310802D)the Natural Science Foundation of Hebei Province(Nos.F2019202369,F2018202279,F2019202363)。
文摘In this paper,periodic event-triggered formation control problems with collision avoidance are studied for leader–follower multiple Unmanned Aerial Vehicles(UAVs).Firstly,based on the Artificial Potential Field(APF)method,a novel sliding manifold is proposed for controller design,which can solve the problem of collision avoidance.Then,the event-triggered strategy is applied to the distributed formation control of multi-UAV systems,where the evaluation of the event condition is continuous.In addition,the exclusion of Zeno behavior can be guaranteed by the inter-event time between two successive trigger events have a positive lower bound.Next,a periodic event-triggered mechanism is developed for formation control based on the continuous eventtriggered mechanism.The periodic trigger mechanism does not need additional hardware circuits and sophisticated sensors,which can reduce the control cost.The stability of the control system is proved by the Lyapunov function method.Finally,some numerical simulations are presented to illustrate the effectiveness of the proposed control protocol.
基金supported by National Natural Science Foundation of China(Nos.61622304,61773201)Natural Science Foundation of Jiangsu Province,China(No.BK20160035)Fundamental Research Funds for the Central Universities,China(No.NE2015002)。
文摘This paper considers a fault-tolerant control and vibration suppression problem of flexible spacecraft.The attitude dynamics is modeled by an interconnected system,in which the rigid part and the flexible part are coupled with each other.Such a model allows us to use the interconnected system approach to analyze the flexible spacecraft.Both distributed and decentralized observer-based fault-tolerant control schemes are developed,under which the closed-loop stability of flexible spacecraft can be ensured by using the cycle-small-gain theorem.Compared with the traditional method,this paper considers the faults occurred not only in the rigid parts,but also in the flexible parts.In addition,the application of the interconnected system approach simplifies the system model of flexible spacecraft,thereby the difficulty of theoretical analysis and engineering practice of fault-tolerant control of flexible spacecraft are greatly reduced.Simulation results show the effectiveness of the proposed methods and the comparison of different fault-tolerant control approach.
基金supported in part by the National Natural Science Foundation of China(61873056,61621004,61420106016)the Fundamental Research Funds for the Central Universities in China(N2004001,N2004002,N182608004)the Research Fund of State Key Laboratory of Synthetical Automation for Process Industries in China(2013ZCX01)。
文摘This paper investigates the distributed fault-tolerant containment control(FTCC)problem of nonlinear multi-agent systems(MASs)under a directed network topology.The proposed control framework which is independent on the global information about the communication topology consists of two layers.Different from most existing distributed fault-tolerant control(FTC)protocols where the fault in one agent may propagate over network,the developed control method can eliminate the phenomenon of fault propagation.Based on the hierarchical control strategy,the FTCC problem with a directed graph can be simplified to the distributed containment control of the upper layer and the fault-tolerant tracking control of the lower layer.Finally,simulation results are given to demonstrate the effectiveness of the proposed control protocol.
基金supported by National Key R&D Program of China(No.2018YFA0703800)Science Fund for Creative Research Group of the National Natural Science Foundation of China(No.61621002)。
文摘In this paper,the event-triggered consensus control problem for nonlinear uncertain multi-agent systems subject to unknown parameters and external disturbances is considered.The dynamics of subsystems are second-order with similar structures,and the nodes are connected by undirected graphs.The event-triggered mechanisms are not only utilized in the transmission of information from the controllers to the actuators,and from the sensors to the controllers within each agent,but also in the communication between agents.Based on the adaptive backstepping method,extra estimators are introduced to handle the unknown parameters,and the measurement errors that occur during the event-triggered communication are well handled by designing compensating terms for the control signals.The presented distributed event-triggered adaptive control laws can guarantee the boundness of the consensus tracking errors and the Zeno behavior is avoided.Meanwhile,the update frequency of the controllers and the load of communication burden are vastly reduced.The obtained control protocol is further applied to a multi-input multi-output second-order nonlinear multi-agent system,and the simulation results show the effectiveness and advantages of our proposed method.
基金supported by the National Natural Science Foundation of China(62003010,61873006,61673053)the Beijing Postdoctoral Research Foundation(Q6041001202001)+1 种基金the Postdoctoral Research Foundation of Chaoyang District(Q1041001202101)the National Key Research and Development Project(2018YFC1602704,2018YFB1702704)。
文摘In this paper,a new distributed consensus tracking protocol incorporating local disturbance rejection is devised for a multi-agent system with heterogeneous dynamic uncertainties and disturbances over a directed graph.It is of two-degree-of-freedom nature.Specifically,a robust distributed controller is designed for consensus tracking,while a local disturbance estimator is designed for each agent without requiring the input channel information of disturbances.The condition for asymptotic disturbance rejection is derived.Moreover,even when the disturbance model is not exactly known,the developed method also provides good disturbance-rejection performance.Then,a robust stabilization condition with less conservativeness is derived for the whole multi-agent system.Further,a design algorithm is given.Finally,comparisons with the conventional one-degree-of-freedombased distributed disturbance-rejection method for mismatched disturbances and the distributed extended-state observer for matched disturbances validate the developed method.
基金supported by the Deanship of Scientific Research(DSR) at KFUPM through Research Project(IN141048)
文摘Abstract--This paper provides a survey on modeling and theories of networked control systems （NCS）. In the first part, modeling of the different types of imperfections that affect NCS is discussed. These imperfections are quantization errors, packet dropouts, variable sampling/transmission intervals, vari- able transmission delays, and communication constraints. Then follows in the second part a presentation of several theories that have been applied for controlling networked systems. These theories include： input delay system approach, Markovian system approach, switched system approach, stochastic system approach, impulsive system approach, and predictive control approach. In the last part, some advanced issues in NCS including decentral- ized and distributed NCS, cloud control system, and co-design of NCS are reviewed. Index Terms--Decentralized networked control systems （NCS）, distributed networked control systems, network constraints, net- worked control system, quantization, time delays.
基金supported by the National Natural Science Fundation of China(5147618751506221)+1 种基金the Natural Science Basic Research Plan in Shaanxi Province of China(2015JQ51792015JM5207)
文摘The chattering characteristic of sliding mode control isanalyzed when it is applied in distributed control systems （DCSs）.For a DCS with random time delay and packet dropout, a discreteswitching system model with time varying sampling period isconstructed based on the time delay system method. The reachinglaw based sliding mode controller is applied in the proposedsystem. The exponential stability condition in the form of linearmatrix inequality is figured out based on the multi-Lyaponov functionmethod. Then, the chattering characteristic is analyzed for theswitching system, and a chattering region related with time varyingsampling period and external disturbance is proposed. Finally, numericalexamples are given to illustrate the validity of the analysisresult.
基金Project(K117K06225)supported by JSPS KAKENHI,Japan
文摘Remote control process system with distributed time-delay has attracted much attention in different fields.In this paper,non-linear remote control of a single tank process system with wireless network is considered.To deal with the distributed time-delay in a large-scale plant,the time-delay compensation controller based on DCS devices is designed by using operator theory and particle filter.Distributed control system(DCS)device is developed to monitor and control from the central monitoring room to each process.The particle filter is a probabilistic method to estimate unobservable information from observable information.First,remote control system and experimental equipment are introduced.Second,control system based on an operator theory is designed.Then,process system with distributed time-delay using particle filter is carried out.Finally,the actual experiment is conducted by using the proposed time-delay compensation controller.When estimating with the proposed method,the result is close to the case in which the distributed time-delay does not exist.The effectiveness of the proposed control system is confirmed by experiment results.
基金supported by the National Magnetic Confinement Fusion Science Program of China(No.2013GB101001)
文摘A distributed control system of Neutral Beam Injector （NBI） on the Experimental Advanced Superconducting Tokamak （EAST-NBI） is briefly presented in this paper. The control system is developed in accordance with the experimental operational characteristics of the EAST- NBI. The NBI control system （NBICS）, which is based on the computer network technologies and classified according to the control levels, consists of three levels： a remote monitoring layer, a server control layer, and a field control layer. The 3-layer architecture is capable of extending the system functions and upgrading devices. The timing system provides the reference clock of the synchronization and interlock for the EAST-NBI system. An interlock system ensures the safety of the experiment operators and field devices. Both of the ion sources of the beamline are designed to operate independently. This lays an important foundation for developing a control system for the second beamline on EAST. Experimental results demonstrate that the NBICS meets functional requirements of the EAST-NBI control, and makes experimental operations visual and automatic.
文摘In this paper,a resilient distributed control scheme against replay attacks for multi-agent networked systems subject to input and state constraints is proposed.The methodological starting point relies on a smart use of predictive arguments with a twofold aim:1)Promptly detect malicious agent behaviors affecting normal system operations;2)Apply specific control actions,based on predictive ideas,for mitigating as much as possible undesirable domino effects resulting from adversary operations.Specifically,the multi-agent system is topologically described by a leader-follower digraph characterized by a unique leader and set-theoretic receding horizon control ideas are exploited to develop a distributed algorithm capable to instantaneously recognize the attacked agent.Finally,numerical simulations are carried out to show benefits and effectiveness of the proposed approach.
基金Supported by National Natural Science Foundation of China(61273108)the Scientific Research Foundation for the Returned Overseas Chinese Scholars,State Education Ministrythe Fundamental Research Funds for the Central Universities(106112013CD-JZR175501)
文摘This paper considers the coordinated tracking problem for a group of Lagrange systems in the presence of parametric uncertainties.Distributed adaptive controllers are proposed with the aid of Lyapunov techniques.Compared with the previous work in the context of networked Lagrange systems control,the results in this paper are suitable for the general digraph communication topologies.Under the condition that the desired trajectory is only available to a portion of Lagrange systems,we discuss the cooperative tracking problem with general digraph communication topology,which contains a spanning tree with the root node being the active target system.Under the case where the neighbor0s velocity is unavailable,a distributed filter is introduced to overcome this deficiency.Experimental results on networked robot-arms are provided to show the effectiveness of the proposed control algorithms.
基金This work was supported by the National Key R&D Program of China(Grant Nos.2018YFB1308700)the National Natural Science Foundation of China(Grant Nos.U21A20117 and 52074085+1 种基金the Fundamental Research Funds for the Central Univer-sities(Grant No.N2004010)the Liaoning Revitalization Talents651 Program(XLYC1907065).
文摘To solve the coupling relationship between the strip automatic gauge control and the looper control in traditional control strategy of tandem hot rolling,a distributed model predictive control(DMPC)strategy for the tandem hot rolling was explored,and a series of simulation experiments were carried out.Firstly,based on the state space analysis method,the multivariable dynamic transition process of hot strip rolling was studied,and the state space model of a gauge-looper integrated system in tandem hot rolling was established.Secondly,DMPC strategy based on neighborhood optimization was proposed,which fully considered the coupling relationship in this integrated system.Finally,a series of experiments simulating disturbances and emergency situations were completed with actual rolling data.The experimental results showed that the proposed DMPC control strategy had better performance compared with the traditional proportional-integral control and centralized model predictive control,which is applicable for the gauge-looper integrated system.
基金supported by National Natural Science Foundation of China(No.61329301)the Royal Society of the UK+2 种基金the Research Fund for the Taishan Scholar Project of Shandong Province of Chinathe China Postdoctoral Science Foundation(No.2016M600547)the Alexander von Humboldt Foundation of Germany
文摘In recent years, theoretical and practical research on event-based communication strategies has gained considerable research attention due primarily to their irreplaceable superiority in resource-constrained systems（especially networked systems）. For networked systems, event-based transmission scheme is capable of improving the efficiency in resource utilization and prolonging the lifetime of the network components compared with the widely adopted periodic transmission scheme. As such, it would be interesting to 1） examining how the event-triggering mechanisms affect the control or filtering performance for networked systems, and 2） developing some suitable approaches for the controller and filter design problems. In this paper, a bibliographical review is presented on event-based control and filtering problems for various networked systems. First, the event-driven communication scheme is introduced in detail according to its engineering background, characteristic, and representative research frameworks. Then, different event-based control and filtering（or state estimation） problems are categorized and then discussed. Finally, we conclude the paper by outlining future research challenges for event-based networked systems.
