The efficient utilization of computation and communication resources became a critical design issue in a wide range of networked systems due to the finite computation and processing capabilities of system components(e...The efficient utilization of computation and communication resources became a critical design issue in a wide range of networked systems due to the finite computation and processing capabilities of system components(e.g., sensor, controller) and shared network bandwidth. Event-triggered mechanisms(ETMs) are regarded as a major paradigm shift in resource-constrained applications compared to the classical time-triggered mechanisms, which allows a trade-off to be achieved between desired control/estimation performance and improved resource efficiency. In recent years, dynamic event-triggered mechanisms(DETMs) are emerging as a promising enabler to fulfill more resource-efficient and flexible design requirements. This paper provides a comprehensive review of the latest developments in dynamic event-triggered control and estimation for networked systems. Firstly, a unified event-triggered control and estimation framework is established, which empowers several fundamental issues associated with the construction and implementation of the desired ETM and controller/estimator to be systematically investigated. Secondly, the motivations of DETMs and their main features and benefits are outlined. Then, two typical classes of DETMs based on auxiliary dynamic variables(ADVs) and dynamic threshold parameters(DTPs) are elaborated. In addition, the main techniques of constructing ADVs and DTPs are classified, and their corresponding analysis and design methods are discussed. Furthermore, three application examples are provided to evaluate different ETMs and verify how and under what conditions DETMs are superior to their static and periodic counterparts. Finally, several challenging issues are envisioned to direct the future research.展开更多
We develop a policy of observer-based dynamic event-triggered state feedback control for distributed parameter systems over a mobile sensor-plus-actuator network.It is assumed that the mobile sensing devices that prov...We develop a policy of observer-based dynamic event-triggered state feedback control for distributed parameter systems over a mobile sensor-plus-actuator network.It is assumed that the mobile sensing devices that provide spatially averaged state measurements can be used to improve state estimation in the network.For the purpose of decreasing the update frequency of controller and unnecessary sampled data transmission, an efficient dynamic event-triggered control policy is constructed.In an event-triggered system, when an error signal exceeds a specified time-varying threshold, it indicates the occurrence of a typical event.The global asymptotic stability of the event-triggered closed-loop system and the boundedness of the minimum inter-event time can be guaranteed.Based on the linear quadratic optimal regulator, the actuator selects the optimal displacement only when an event occurs.A simulation example is finally used to verify that the effectiveness of such a control strategy can enhance the system performance.展开更多
This paper investigates the edge-based dynamic event-triggered inverse optimal formation control problem for multiple quadrotor unmanned aerial vehicles(QUAVs) with attitude constraints. To improve communication effic...This paper investigates the edge-based dynamic event-triggered inverse optimal formation control problem for multiple quadrotor unmanned aerial vehicles(QUAVs) with attitude constraints. To improve communication efficiency, an edge-based dynamic event-triggered mechanism is developed for the communication channels between neighboring QUAVs. However, this edge-based dynamic event-triggered communication(DETC) may cause discontinuities in the reference signals. To solve this problem, a distributed estimator is designed for each QUAV to obtain the leader's output signals. Considering the safety of QUAV formation flying, this paper designs a function transformation method that constrains the attitudes of the QUAVs to a strictly safe region. Furthermore, an inverse optimal control strategy is proposed based on the backstepping methodology. This scheme not only minimizes the cost function but also avoids the necessity of solving the Hamilton-Jacobi-Bellman equation. Finally, the stability of the QUAV systems is proven using Lyapunov theory, and the effectiveness of the proposed control method is verified through simulation.展开更多
This paper studies the problem of designing a modelbased decentralized dynamic periodic event-triggering mechanism(DDPETM)for networked control systems(NCSs)subject to packet losses and external disturbances.Firstly,t...This paper studies the problem of designing a modelbased decentralized dynamic periodic event-triggering mechanism(DDPETM)for networked control systems(NCSs)subject to packet losses and external disturbances.Firstly,the entire NCSs,comprising the triggering mechanism,packet losses and output-based controller,are unified into a hybrid dynamical framework.Secondly,by introducing dynamic triggering variables,the DDPETM is designed to conserve network resources while guaranteeing desired performance properties and tolerating the maximum allowable number of successive packet losses.Thirdly,some stability conditions are derived using the Lyapunov approach.Differing from the zero-order-hold(ZOH)case,the model-based control sufficiently exploits the model information at the controller side.Between two updates,the controller predicts the plant state based on the models and received feedback information.With the model-based control,less transmission may be expected than with ZOH.Finally,numerical examples and comparative experiments demonstrate the effectiveness of the proposed method.展开更多
In this paper,an adaptive dynamic event-triggered asymptotic control scheme is designed for strict-feedback systems with time-varying parameters.The congelation of variables technique is employed to address the time-v...In this paper,an adaptive dynamic event-triggered asymptotic control scheme is designed for strict-feedback systems with time-varying parameters.The congelation of variables technique is employed to address the time-varying parameters in the system.During the controller design,two parameter estimation adaptive laws are constructed.The tuning function is introduced in the design process to avoid over-parameterization.To further conserve communication resources,a dynamic eventtriggered approach is proposed,in which a non-negative variable is introduced to update the threshold parameter dynamically.The global uniform asymptotic stability of the closed-loop system is proven through the Lyapunov stability analysis.The feasibility of the scheme is demonstrated by simulation.展开更多
To address the issue of instability or even imbalance in the orientation and attitude control of quadrotor unmanned aerial vehicles(QUAVs)under random disturbances,this paper proposes a distributed antidisturbance dat...To address the issue of instability or even imbalance in the orientation and attitude control of quadrotor unmanned aerial vehicles(QUAVs)under random disturbances,this paper proposes a distributed antidisturbance data-driven event-triggered fusion control method,which achieves efficient fault diagnosis while suppressing random disturbances and mitigating communication conflicts within the QUAV swarm.First,the impact of random disturbances on the UAV swarm is analyzed,and a model for orientation and attitude control of QUAVs under stochastic perturbations is established,with the disturbance gain threshold determined.Second,a fault diagnosis system based on a high-gain observer is designed,constructing a fault gain criterion by integrating orientation and attitude information from QUAVs.Subsequently,a model-free dynamic linearization-based data modeling(MFDLDM)framework is developed using model-free adaptive control,which efficiently fits the nonlinear control model of the QUAV swarm while reducing temporal constraints on control data.On this basis,this paper constructs a distributed data-driven event-triggered controller based on the staggered communication mechanism,which consists of an equivalent QUAV controller and an event-triggered controller,and is able to reduce the communication conflicts while suppressing the influence of random interference.Finally,by incorporating random disturbances into the controller,comparative experiments and physical validations are conducted on the QUAV platforms,fully demonstrating the strong adaptability and robustness of the proposed distributed event-triggered fault-tolerant control system.展开更多
Traditional dynamic analysis of mechanical structures,often limited to individual beams or plates,fails to fully capture their dynamic behaviors.In systems where space and mass are constrained,such as the battery supp...Traditional dynamic analysis of mechanical structures,often limited to individual beams or plates,fails to fully capture their dynamic behaviors.In systems where space and mass are constrained,such as the battery support structures in electric aircraft,conventional absorbers and isolators are insufficient for effective vibration control.This study simplifies the battery support structure of electric aircraft as an integrated composite beam consisting of three interconnected beams,and investigated its structural dynamics properties and nonlinear vibration control under thermal conditions caused by battery heat.The nonlinear vibration control is performed using the Nitinol steel wire ropes(Ni Ti-ST),with nonlinear damping properties.The natural frequencies of system are determined using the Rayleigh-Ritz technique.Theoretical results are validated through both Finite Element Method(FEM)and hammer tests.Moreover,the dynamic equations are derived using the Lagrange method and discretized via the Galerkin Truncation Method(GTM).The Harmonic Balance Method(HBM)is used to evaluate the vibration responses of the integrated model,with further verification through the Runge-Kutta Method(RKM).The experiments are conducted to corroborate the theoretical analysis.The results show that the system frequency changes in stages with the increase of the stiffness of the integrated composite beam connection.Especially in the case of varying environments,as the temperature increases,the frequency of system will first increase to a certain maximum value and then gradually decrease.Furthermore,the NiTi-ST effectively reduces vibration in the integrated composite beam,particularly under varying temperatures and external excitations.展开更多
In this paper,the formation control problem of secondorder nonholonomic mobile robot systems is investigated in a dynamic event-triggered scheme.Event-triggered control protocols combined with persistent excitation(PE...In this paper,the formation control problem of secondorder nonholonomic mobile robot systems is investigated in a dynamic event-triggered scheme.Event-triggered control protocols combined with persistent excitation(PE)conditions are presented.In event-detecting processes,an inactive time is introduced after each sampling instant,which can ensure a positive minimum sampling interval.To increase the flexibility of the event-triggered scheme,internal dynamic variables are included in event-triggering conditions.Moreover,the dynamic event-triggered scheme plays an important role in increasing the lengths of time intervals between any two consecutive events.In addition,event-triggered control protocols without forward and angular velocities are also presented based on approximate-differentiation(low-pass)filters.The asymptotic convergence results are given based on a nested Matrosov theorem and artificial sampling methods.展开更多
This paper deals with the co-design problem of event-triggered communication scheduling and platooning control over vehicular ad-hoc networks(VANETs)subject to finite communication resource.First,a unified model is pr...This paper deals with the co-design problem of event-triggered communication scheduling and platooning control over vehicular ad-hoc networks(VANETs)subject to finite communication resource.First,a unified model is presented to describe the coordinated platoon behavior of leader-follower vehicles in the simultaneous presence of unknown external disturbances and an unknown leader control input.Under such a platoon model,the central aim is to achieve robust platoon formation tracking with desired inter-vehicle spacing and same velocities and accelerations guided by the leader,while attaining improved communication efficiency.Toward this aim,a novel bandwidth-aware dynamic event-triggered scheduling mechanism is developed.One salient feature of the scheduling mechanism is that the threshold parameter in the triggering law is dynamically adjusted over time based on both vehicular state variations and bandwidth status.Then,a sufficient condition for platoon control system stability and performance analysis as well as a co-design criterion of the admissible event-triggered platooning control law and the desired scheduling mechanism are derived.Finally,simulation results are provided to substantiate the effectiveness and merits of the proposed co-design approach for guaranteeing a trade-off between robust platooning control performance and communication efficiency.展开更多
The paper develops a novel framework of consensus control with fault-estimation-in-the-loop for multi-agent systems(MASs)in the presence of faults.A dynamic event-triggered protocol(DETP)by adding an auxiliary variabl...The paper develops a novel framework of consensus control with fault-estimation-in-the-loop for multi-agent systems(MASs)in the presence of faults.A dynamic event-triggered protocol(DETP)by adding an auxiliary variable is utilized to improve the utilization of communication resources.First,a novel estimator with a noise bias is put forward to estimate the existed fault and then a consensus controller with fault compensation(FC)is adopted to realize the demand of reliability and safety of addressed MASs.Subsequently,a novel consensus control framework with fault-estimation-in-the-loop is developed to achieve the predetermined consensus performance with the l_(2)-l_(∞)constraint by employing the variance analysis and the Lyapunov stability approaches.Furthermore,the desired estimator and controller gains are obtained in light of the solution to an algebraic matrix equation and a linear matrix inequality in a recursive way,respectively.Finally,a simulation result is employed to verify the usefulness of the proposed design framework.展开更多
This paper addresses the co-design problem of decentralized dynamic event-triggered communication and active suspension control for an in-wheel motor driven electric vehicle equipped with a dynamic damper. The main ob...This paper addresses the co-design problem of decentralized dynamic event-triggered communication and active suspension control for an in-wheel motor driven electric vehicle equipped with a dynamic damper. The main objective is to simultaneously improve the desired suspension performance caused by various road disturbances and alleviate the network resource utilization for the concerned in-vehicle networked suspension system. First, a T-S fuzzy active suspension model of an electric vehicle under dynamic damping is established. Second,a novel decentralized dynamic event-triggered communication mechanism is developed to regulate each sensor's data transmissions such that sampled data packets on each sensor are scheduled in an independent manner. In contrast to the traditional static triggering mechanisms, a key feature of the proposed mechanism is that the threshold parameter in the event trigger is adjusted adaptively over time to reduce the network resources occupancy. Third, co-design criteria for the desired event-triggered fuzzy controller and dynamic triggering mechanisms are derived. Finally, comprehensive comparative simulation studies of a 3-degrees-of-freedom quarter suspension model are provided under both bump road disturbance and ISO-2631 classified random road disturbance to validate the effectiveness of the proposed co-design approach. It is shown that ride comfort can be greatly improved in either road disturbance case and the suspension deflection, dynamic tyre load and actuator control input are all kept below the prescribed maximum allowable limits, while simultaneously maintaining desirable communication efficiency.展开更多
This article deals with the consensus problem of multi-agent systems by developing a fixed-time consensus control approach with a dynamic event-triggered rule. First, a new fixedtime stability condition is obtained wh...This article deals with the consensus problem of multi-agent systems by developing a fixed-time consensus control approach with a dynamic event-triggered rule. First, a new fixedtime stability condition is obtained where the less conservative settling time is given such that the theoretical settling time can well reflect the real consensus time. Second, a dynamic event-triggered rule is designed to decrease the use of chip and network resources where Zeno behaviors can be avoided after consensus is achieved, especially for finite/fixed-time consensus control approaches. Third, in terms of the developed dynamic event-triggered rule, a fixed-time consensus control approach by introducing a new item is proposed to coordinate the multi-agent system to reach consensus. The corresponding stability of the multi-agent system with the proposed control approach and dynamic eventtriggered rule is analyzed based on Lyapunov theory and the fixed-time stability theorem. At last, the effectiveness of the dynamic event-triggered fixed-time consensus control approach is verified by simulations and experiments for the problem of magnetic map construction based on multiple mobile robots.展开更多
This work proposes an event-triggered adaptive control approach for a class of uncertain nonlinear systems under irregular constraints.Unlike the constraints considered in most existing papers,here the external irregu...This work proposes an event-triggered adaptive control approach for a class of uncertain nonlinear systems under irregular constraints.Unlike the constraints considered in most existing papers,here the external irregular constraints are considered and a constraints switching mechanism(CSM)is introduced to circumvent the difficulties arising from irregular output constraints.Based on the CSM,a new class of generalized barrier functions are constructed,which allows the control results to be independent of the maximum and minimum values(MMVs)of constraints and thus extends the existing results.Finally,we proposed a novel dynamic constraint-driven event-triggered strategy(DCDETS),under which the stress on signal transmission is reduced greatly and no constraints are violated by making a dynamic trade-off among system state,external constraints,and inter-execution intervals.It is proved that the system output is driven to close to the reference trajectory and the semi-global stability is guaranteed under the proposed control scheme,regardless of the external irregular output constraints.Simulation also verifies the effectiveness and benefits of the proposed method.展开更多
This article focuses on dynamic event-triggered mechanism(DETM)-based model predictive control(MPC) for T-S fuzzy systems.A hybrid dynamic variables-dependent DETM is carefully devised,which includes a multiplicative ...This article focuses on dynamic event-triggered mechanism(DETM)-based model predictive control(MPC) for T-S fuzzy systems.A hybrid dynamic variables-dependent DETM is carefully devised,which includes a multiplicative dynamic variable and an additive dynamic variable.The addressed DETM-based fuzzy MPC issue is described as a “min-max” optimization problem(OP).To facilitate the co-design of the MPC controller and the weighting matrix of the DETM,an auxiliary OP is proposed based on a new Lyapunov function and a new robust positive invariant(RPI) set that contain the membership functions and the hybrid dynamic variables.A dynamic event-triggered fuzzy MPC algorithm is developed accordingly,whose recursive feasibility is analysed by employing the RPI set.With the designed controller,the involved fuzzy system is ensured to be asymptotically stable.Two examples show that the new DETM and DETM-based MPC algorithm have the advantages of reducing resource consumption while yielding the anticipated performance.展开更多
This paper investigates the consensus control of multi-agent systems(MASs) with constrained input using the dynamic event-triggered mechanism(ETM).Consider the MASs with small-scale networks where a centralized dynami...This paper investigates the consensus control of multi-agent systems(MASs) with constrained input using the dynamic event-triggered mechanism(ETM).Consider the MASs with small-scale networks where a centralized dynamic ETM with global information of the MASs is first designed.Then,a distributed dynamic ETM which only uses local information is developed for the MASs with large-scale networks.It is shown that the semi-global consensus of the MASs can be achieved by the designed bounded control protocol where the Zeno phenomenon is eliminated by a designable minimum inter-event time.In addition,it is easier to find a trade-off between the convergence rate and the minimum inter-event time by an adjustable parameter.Furthermore,the results are extended to regional consensus of the MASs with the bounded control protocol.Numerical simulations show the effectiveness of the proposed approach.展开更多
In networked robot manipulators that deeply integrate control, communication and computation, the controller design needs to take into consideration the limited or costly system resources and the presence of disturban...In networked robot manipulators that deeply integrate control, communication and computation, the controller design needs to take into consideration the limited or costly system resources and the presence of disturbances/uncertainties. To cope with these requirements, this paper proposes a novel dynamic event-triggered robust tracking control method for a onedegree of freedom(DOF) link manipulator with external disturbance and system uncertainties via a reduced-order generalized proportional-integral observer(GPIO). By only using the sampled-data position signal, a new sampled-data robust output feedback tracking controller is proposed based on a reduced-order GPIO to attenuate the undesirable influence of the external disturbance and the system uncertainties. To save the communication resources, we propose a discrete-time dynamic event-triggering mechanism(DETM), where the estimates and the control signal are transmitted and computed only when the proposed discrete-time DETM is violated. It is shown that with the proposed control method, both tracking control properties and communication properties can be significantly improved. Finally, simulation results are shown to demonstrate the feasibility and efficacy of the proposed control approach.展开更多
In this paper,the bipartite consensus problem is studied for a class of uncertain high-order nonlinear multi-agent systems.A signed digraph is presented to describe the collaborative and competitive interactions among...In this paper,the bipartite consensus problem is studied for a class of uncertain high-order nonlinear multi-agent systems.A signed digraph is presented to describe the collaborative and competitive interactions among agents.For each agent with lower triangular structure,a time-varying gain compensator is first designed by relative output information of neighboring agents.Subsequently,a distributed controller with dynamic event-triggered mechanism is proposed to drive the bipartite consensus error to zero.It is worth noting that an internal dynamic variable is introduced in triggering function,which plays an essential role in excluding the Zeno behavior and reducing energy consumption.Furthermore,the dynamic event-triggered control protocol is developed for upper triangular multi-agent systems to realize the bipartite consensus without Zeno behavior.Finally,simulation examples are provided to illustrate the effectiveness of the presented results.展开更多
This paper is concerned with event-triggered control of discrete-time systems with or without input saturation.First,an accumulative-error-based event-triggered scheme is devised for control updates.When the accumulat...This paper is concerned with event-triggered control of discrete-time systems with or without input saturation.First,an accumulative-error-based event-triggered scheme is devised for control updates.When the accumulated error between the current state and the latest control update exceeds a certain threshold,an event is triggered.Such a scheme can ensure the event-generator works at a relatively low rate rather than falls into hibernation especially after the system steps into its steady state.Second,the looped functional method for continuous-time systems is extended to discrete-time systems.By introducing an innovative looped functional that links the event-triggered scheme,some sufficient conditions for the co-design of control gain and event-triggered parameters are obtained in terms of linear matrix inequalities with a couple of tuning parameters.Then,the proposed method is applied to discrete-time systems with input saturation.As a result,both suitable control gains and event-triggered parameters are also co-designed to ensure the system trajectories converge to the region of attraction.Finally,an unstable reactor system and an inverted pendulum system are given to show the effectiveness of the proposed method.展开更多
In recent decades,control performance monitoring(CPM)has experienced remarkable progress in research and industrial applications.While CPM research has been investigated using various benchmarks,the historical data be...In recent decades,control performance monitoring(CPM)has experienced remarkable progress in research and industrial applications.While CPM research has been investigated using various benchmarks,the historical data benchmark(HIS)has garnered the most attention due to its practicality and effectiveness.However,existing CPM reviews usually focus on the theoretical benchmark,and there is a lack of an in-depth review that thoroughly explores HIS-based methods.In this article,a comprehensive overview of HIS-based CPM is provided.First,we provide a novel static-dynamic perspective on data-level manifestations of control performance underlying typical controller capacities including regulation and servo:static and dynamic properties.The static property portrays time-independent variability in system output,and the dynamic property describes temporal behavior driven by closed-loop feedback.Accordingly,existing HIS-based CPM approaches and their intrinsic motivations are classified and analyzed from these two perspectives.Specifically,two mainstream solutions for CPM methods are summarized,including static analysis and dynamic analysis,which match data-driven techniques with actual controlling behavior.Furthermore,this paper also points out various opportunities and challenges faced in CPM for modern industry and provides promising directions in the context of artificial intelligence for inspiring future research.展开更多
1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki ...1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki et al.,2010;Englsberger et al.,2015;Xie et al.,2020).With regard to model-based gait-generation methods for uphill and downhill terrain,Kuo(2007)simulated human gait using an inverted pendulum,which provided a circular trajectory for the COM rather than a horizontal trajectory.He found that a horizontal COM trajectory consumed more muscle energy.Massah et al.(2012)utilized a 3D LIPM and the concept of zero moment point(ZMP).They developed a trajectory planner using the semi-elliptical motion equations of an NAO humanoid robot and simulated walking on various sloped terrains using the Webots platform.展开更多
基金supported by the Australian Research Council Discovery Early Career Researcher Award(No.DE200101128).
文摘The efficient utilization of computation and communication resources became a critical design issue in a wide range of networked systems due to the finite computation and processing capabilities of system components(e.g., sensor, controller) and shared network bandwidth. Event-triggered mechanisms(ETMs) are regarded as a major paradigm shift in resource-constrained applications compared to the classical time-triggered mechanisms, which allows a trade-off to be achieved between desired control/estimation performance and improved resource efficiency. In recent years, dynamic event-triggered mechanisms(DETMs) are emerging as a promising enabler to fulfill more resource-efficient and flexible design requirements. This paper provides a comprehensive review of the latest developments in dynamic event-triggered control and estimation for networked systems. Firstly, a unified event-triggered control and estimation framework is established, which empowers several fundamental issues associated with the construction and implementation of the desired ETM and controller/estimator to be systematically investigated. Secondly, the motivations of DETMs and their main features and benefits are outlined. Then, two typical classes of DETMs based on auxiliary dynamic variables(ADVs) and dynamic threshold parameters(DTPs) are elaborated. In addition, the main techniques of constructing ADVs and DTPs are classified, and their corresponding analysis and design methods are discussed. Furthermore, three application examples are provided to evaluate different ETMs and verify how and under what conditions DETMs are superior to their static and periodic counterparts. Finally, several challenging issues are envisioned to direct the future research.
基金Project supported by the National Natural Science Foundation of China (Grant No.62073045)。
文摘We develop a policy of observer-based dynamic event-triggered state feedback control for distributed parameter systems over a mobile sensor-plus-actuator network.It is assumed that the mobile sensing devices that provide spatially averaged state measurements can be used to improve state estimation in the network.For the purpose of decreasing the update frequency of controller and unnecessary sampled data transmission, an efficient dynamic event-triggered control policy is constructed.In an event-triggered system, when an error signal exceeds a specified time-varying threshold, it indicates the occurrence of a typical event.The global asymptotic stability of the event-triggered closed-loop system and the boundedness of the minimum inter-event time can be guaranteed.Based on the linear quadratic optimal regulator, the actuator selects the optimal displacement only when an event occurs.A simulation example is finally used to verify that the effectiveness of such a control strategy can enhance the system performance.
基金supported by the National Natural Science Foundation of China (Grant Nos.62573134,62473100,62433018)the Guangdong Basic and Applied Basic Research Foundation(Grant Nos.2025A1515060017,2025A1515011436,2025B1515020065,2025A1515011789)the Guangzhou Basic and Applied Basic Research Project (Grant No.2025A04J3534)。
文摘This paper investigates the edge-based dynamic event-triggered inverse optimal formation control problem for multiple quadrotor unmanned aerial vehicles(QUAVs) with attitude constraints. To improve communication efficiency, an edge-based dynamic event-triggered mechanism is developed for the communication channels between neighboring QUAVs. However, this edge-based dynamic event-triggered communication(DETC) may cause discontinuities in the reference signals. To solve this problem, a distributed estimator is designed for each QUAV to obtain the leader's output signals. Considering the safety of QUAV formation flying, this paper designs a function transformation method that constrains the attitudes of the QUAVs to a strictly safe region. Furthermore, an inverse optimal control strategy is proposed based on the backstepping methodology. This scheme not only minimizes the cost function but also avoids the necessity of solving the Hamilton-Jacobi-Bellman equation. Finally, the stability of the QUAV systems is proven using Lyapunov theory, and the effectiveness of the proposed control method is verified through simulation.
基金supported by the National Natural Science Foundation of China(U21A20477,61722302,61573069,61903290)the Fundamental Research Funds for the Central Universities(DUT19ZD218).
文摘This paper studies the problem of designing a modelbased decentralized dynamic periodic event-triggering mechanism(DDPETM)for networked control systems(NCSs)subject to packet losses and external disturbances.Firstly,the entire NCSs,comprising the triggering mechanism,packet losses and output-based controller,are unified into a hybrid dynamical framework.Secondly,by introducing dynamic triggering variables,the DDPETM is designed to conserve network resources while guaranteeing desired performance properties and tolerating the maximum allowable number of successive packet losses.Thirdly,some stability conditions are derived using the Lyapunov approach.Differing from the zero-order-hold(ZOH)case,the model-based control sufficiently exploits the model information at the controller side.Between two updates,the controller predicts the plant state based on the models and received feedback information.With the model-based control,less transmission may be expected than with ZOH.Finally,numerical examples and comparative experiments demonstrate the effectiveness of the proposed method.
基金supported by the Shandong Provincial Natural Science Foundation(Nos.ZR2023QF039 and ZR2024MF068)the Qingdao Natural Science Foundation(No.23-2-1-123-zyyd-jch)+2 种基金the Taishan Scholars Project of Shandong Province of China(No.tstp20230624)the Science and Technology Plan for Youth Innovation of Universities in Shandong Province(No.2022KJ301)the National Natural Science Foundation of China(No.62373205).
文摘In this paper,an adaptive dynamic event-triggered asymptotic control scheme is designed for strict-feedback systems with time-varying parameters.The congelation of variables technique is employed to address the time-varying parameters in the system.During the controller design,two parameter estimation adaptive laws are constructed.The tuning function is introduced in the design process to avoid over-parameterization.To further conserve communication resources,a dynamic eventtriggered approach is proposed,in which a non-negative variable is introduced to update the threshold parameter dynamically.The global uniform asymptotic stability of the closed-loop system is proven through the Lyapunov stability analysis.The feasibility of the scheme is demonstrated by simulation.
基金supported in part by the National Natural Science Foundation of China,Grant/Award Number:62003267the Key Research and Development Program of Shaanxi Province,Grant/Award Number:2023-GHZD-33Open Project of the State Key Laboratory of Intelligent Game,Grant/Award Number:ZBKF-23-05。
文摘To address the issue of instability or even imbalance in the orientation and attitude control of quadrotor unmanned aerial vehicles(QUAVs)under random disturbances,this paper proposes a distributed antidisturbance data-driven event-triggered fusion control method,which achieves efficient fault diagnosis while suppressing random disturbances and mitigating communication conflicts within the QUAV swarm.First,the impact of random disturbances on the UAV swarm is analyzed,and a model for orientation and attitude control of QUAVs under stochastic perturbations is established,with the disturbance gain threshold determined.Second,a fault diagnosis system based on a high-gain observer is designed,constructing a fault gain criterion by integrating orientation and attitude information from QUAVs.Subsequently,a model-free dynamic linearization-based data modeling(MFDLDM)framework is developed using model-free adaptive control,which efficiently fits the nonlinear control model of the QUAV swarm while reducing temporal constraints on control data.On this basis,this paper constructs a distributed data-driven event-triggered controller based on the staggered communication mechanism,which consists of an equivalent QUAV controller and an event-triggered controller,and is able to reduce the communication conflicts while suppressing the influence of random interference.Finally,by incorporating random disturbances into the controller,comparative experiments and physical validations are conducted on the QUAV platforms,fully demonstrating the strong adaptability and robustness of the proposed distributed event-triggered fault-tolerant control system.
基金supported by the National Natural Science Foundation of China(No.12272240)the Liaoning Revitalization Talents Program,China(No.XLYC2203197)。
文摘Traditional dynamic analysis of mechanical structures,often limited to individual beams or plates,fails to fully capture their dynamic behaviors.In systems where space and mass are constrained,such as the battery support structures in electric aircraft,conventional absorbers and isolators are insufficient for effective vibration control.This study simplifies the battery support structure of electric aircraft as an integrated composite beam consisting of three interconnected beams,and investigated its structural dynamics properties and nonlinear vibration control under thermal conditions caused by battery heat.The nonlinear vibration control is performed using the Nitinol steel wire ropes(Ni Ti-ST),with nonlinear damping properties.The natural frequencies of system are determined using the Rayleigh-Ritz technique.Theoretical results are validated through both Finite Element Method(FEM)and hammer tests.Moreover,the dynamic equations are derived using the Lagrange method and discretized via the Galerkin Truncation Method(GTM).The Harmonic Balance Method(HBM)is used to evaluate the vibration responses of the integrated model,with further verification through the Runge-Kutta Method(RKM).The experiments are conducted to corroborate the theoretical analysis.The results show that the system frequency changes in stages with the increase of the stiffness of the integrated composite beam connection.Especially in the case of varying environments,as the temperature increases,the frequency of system will first increase to a certain maximum value and then gradually decrease.Furthermore,the NiTi-ST effectively reduces vibration in the integrated composite beam,particularly under varying temperatures and external excitations.
基金supported by the Beijing Natural Science Foundation(4222053).
文摘In this paper,the formation control problem of secondorder nonholonomic mobile robot systems is investigated in a dynamic event-triggered scheme.Event-triggered control protocols combined with persistent excitation(PE)conditions are presented.In event-detecting processes,an inactive time is introduced after each sampling instant,which can ensure a positive minimum sampling interval.To increase the flexibility of the event-triggered scheme,internal dynamic variables are included in event-triggering conditions.Moreover,the dynamic event-triggered scheme plays an important role in increasing the lengths of time intervals between any two consecutive events.In addition,event-triggered control protocols without forward and angular velocities are also presented based on approximate-differentiation(low-pass)filters.The asymptotic convergence results are given based on a nested Matrosov theorem and artificial sampling methods.
基金This work was supported in part by the Australian Research Council Discovery Early Career Researcher Award under Grant DE200101128.
文摘This paper deals with the co-design problem of event-triggered communication scheduling and platooning control over vehicular ad-hoc networks(VANETs)subject to finite communication resource.First,a unified model is presented to describe the coordinated platoon behavior of leader-follower vehicles in the simultaneous presence of unknown external disturbances and an unknown leader control input.Under such a platoon model,the central aim is to achieve robust platoon formation tracking with desired inter-vehicle spacing and same velocities and accelerations guided by the leader,while attaining improved communication efficiency.Toward this aim,a novel bandwidth-aware dynamic event-triggered scheduling mechanism is developed.One salient feature of the scheduling mechanism is that the threshold parameter in the triggering law is dynamically adjusted over time based on both vehicular state variations and bandwidth status.Then,a sufficient condition for platoon control system stability and performance analysis as well as a co-design criterion of the admissible event-triggered platooning control law and the desired scheduling mechanism are derived.Finally,simulation results are provided to substantiate the effectiveness and merits of the proposed co-design approach for guaranteeing a trade-off between robust platooning control performance and communication efficiency.
基金supported in part by the Australian Research Council Discovery Early Career Researcher Award(DE200101128)。
文摘The paper develops a novel framework of consensus control with fault-estimation-in-the-loop for multi-agent systems(MASs)in the presence of faults.A dynamic event-triggered protocol(DETP)by adding an auxiliary variable is utilized to improve the utilization of communication resources.First,a novel estimator with a noise bias is put forward to estimate the existed fault and then a consensus controller with fault compensation(FC)is adopted to realize the demand of reliability and safety of addressed MASs.Subsequently,a novel consensus control framework with fault-estimation-in-the-loop is developed to achieve the predetermined consensus performance with the l_(2)-l_(∞)constraint by employing the variance analysis and the Lyapunov stability approaches.Furthermore,the desired estimator and controller gains are obtained in light of the solution to an algebraic matrix equation and a linear matrix inequality in a recursive way,respectively.Finally,a simulation result is employed to verify the usefulness of the proposed design framework.
文摘This paper addresses the co-design problem of decentralized dynamic event-triggered communication and active suspension control for an in-wheel motor driven electric vehicle equipped with a dynamic damper. The main objective is to simultaneously improve the desired suspension performance caused by various road disturbances and alleviate the network resource utilization for the concerned in-vehicle networked suspension system. First, a T-S fuzzy active suspension model of an electric vehicle under dynamic damping is established. Second,a novel decentralized dynamic event-triggered communication mechanism is developed to regulate each sensor's data transmissions such that sampled data packets on each sensor are scheduled in an independent manner. In contrast to the traditional static triggering mechanisms, a key feature of the proposed mechanism is that the threshold parameter in the event trigger is adjusted adaptively over time to reduce the network resources occupancy. Third, co-design criteria for the desired event-triggered fuzzy controller and dynamic triggering mechanisms are derived. Finally, comprehensive comparative simulation studies of a 3-degrees-of-freedom quarter suspension model are provided under both bump road disturbance and ISO-2631 classified random road disturbance to validate the effectiveness of the proposed co-design approach. It is shown that ride comfort can be greatly improved in either road disturbance case and the suspension deflection, dynamic tyre load and actuator control input are all kept below the prescribed maximum allowable limits, while simultaneously maintaining desirable communication efficiency.
基金supported in part by the National Natural Science Foundation of China (62073108)the Zhejiang Provincial Natural Science Foundation(LZ23F030004)+1 种基金the Key Research and Development Project of Zhejiang Province (2019C04018)the Fundamental Research Funds for the Provincial Universities of Zhejiang (GK229909299001-004)。
文摘This article deals with the consensus problem of multi-agent systems by developing a fixed-time consensus control approach with a dynamic event-triggered rule. First, a new fixedtime stability condition is obtained where the less conservative settling time is given such that the theoretical settling time can well reflect the real consensus time. Second, a dynamic event-triggered rule is designed to decrease the use of chip and network resources where Zeno behaviors can be avoided after consensus is achieved, especially for finite/fixed-time consensus control approaches. Third, in terms of the developed dynamic event-triggered rule, a fixed-time consensus control approach by introducing a new item is proposed to coordinate the multi-agent system to reach consensus. The corresponding stability of the multi-agent system with the proposed control approach and dynamic eventtriggered rule is analyzed based on Lyapunov theory and the fixed-time stability theorem. At last, the effectiveness of the dynamic event-triggered fixed-time consensus control approach is verified by simulations and experiments for the problem of magnetic map construction based on multiple mobile robots.
基金supported in part by the National Key Research and Development Program of China(2023YFA1011803)the National Natural Science Foundation of China(62273064,61933012,62250710167,61860206008,62203078)the Central University Project(2021CDJCGJ002,2022CDJKYJH019,2022CDJKYJH051)。
文摘This work proposes an event-triggered adaptive control approach for a class of uncertain nonlinear systems under irregular constraints.Unlike the constraints considered in most existing papers,here the external irregular constraints are considered and a constraints switching mechanism(CSM)is introduced to circumvent the difficulties arising from irregular output constraints.Based on the CSM,a new class of generalized barrier functions are constructed,which allows the control results to be independent of the maximum and minimum values(MMVs)of constraints and thus extends the existing results.Finally,we proposed a novel dynamic constraint-driven event-triggered strategy(DCDETS),under which the stress on signal transmission is reduced greatly and no constraints are violated by making a dynamic trade-off among system state,external constraints,and inter-execution intervals.It is proved that the system output is driven to close to the reference trajectory and the semi-global stability is guaranteed under the proposed control scheme,regardless of the external irregular output constraints.Simulation also verifies the effectiveness and benefits of the proposed method.
基金supported by the National Natural Science Foundation of China (62073303,61673356)Hubei Provincial Natural Science Foundation of China (2015CFA010)the 111 Project(B17040)。
文摘This article focuses on dynamic event-triggered mechanism(DETM)-based model predictive control(MPC) for T-S fuzzy systems.A hybrid dynamic variables-dependent DETM is carefully devised,which includes a multiplicative dynamic variable and an additive dynamic variable.The addressed DETM-based fuzzy MPC issue is described as a “min-max” optimization problem(OP).To facilitate the co-design of the MPC controller and the weighting matrix of the DETM,an auxiliary OP is proposed based on a new Lyapunov function and a new robust positive invariant(RPI) set that contain the membership functions and the hybrid dynamic variables.A dynamic event-triggered fuzzy MPC algorithm is developed accordingly,whose recursive feasibility is analysed by employing the RPI set.With the designed controller,the involved fuzzy system is ensured to be asymptotically stable.Two examples show that the new DETM and DETM-based MPC algorithm have the advantages of reducing resource consumption while yielding the anticipated performance.
基金supported in part by the National Natural Science Foundation of China(51939001,61976033,62273072)the Natural Science Foundation of Sichuan Province (2022NSFSC0903)。
文摘This paper investigates the consensus control of multi-agent systems(MASs) with constrained input using the dynamic event-triggered mechanism(ETM).Consider the MASs with small-scale networks where a centralized dynamic ETM with global information of the MASs is first designed.Then,a distributed dynamic ETM which only uses local information is developed for the MASs with large-scale networks.It is shown that the semi-global consensus of the MASs can be achieved by the designed bounded control protocol where the Zeno phenomenon is eliminated by a designable minimum inter-event time.In addition,it is easier to find a trade-off between the convergence rate and the minimum inter-event time by an adjustable parameter.Furthermore,the results are extended to regional consensus of the MASs with the bounded control protocol.Numerical simulations show the effectiveness of the proposed approach.
基金supported in part by the National Natural Science Foundation of China(61473080,61573099,61973080,61750110525,61633003)。
文摘In networked robot manipulators that deeply integrate control, communication and computation, the controller design needs to take into consideration the limited or costly system resources and the presence of disturbances/uncertainties. To cope with these requirements, this paper proposes a novel dynamic event-triggered robust tracking control method for a onedegree of freedom(DOF) link manipulator with external disturbance and system uncertainties via a reduced-order generalized proportional-integral observer(GPIO). By only using the sampled-data position signal, a new sampled-data robust output feedback tracking controller is proposed based on a reduced-order GPIO to attenuate the undesirable influence of the external disturbance and the system uncertainties. To save the communication resources, we propose a discrete-time dynamic event-triggering mechanism(DETM), where the estimates and the control signal are transmitted and computed only when the proposed discrete-time DETM is violated. It is shown that with the proposed control method, both tracking control properties and communication properties can be significantly improved. Finally, simulation results are shown to demonstrate the feasibility and efficacy of the proposed control approach.
基金This work was supported by the National Natural Science Foundation of China(Nos.61973189,62073190)the Research Fund for the Taishan Scholar Project of Shandong Province of China(No.ts20190905)the Natural Science Foundation of Shandong Province of China(No.ZR2020ZD25).
文摘In this paper,the bipartite consensus problem is studied for a class of uncertain high-order nonlinear multi-agent systems.A signed digraph is presented to describe the collaborative and competitive interactions among agents.For each agent with lower triangular structure,a time-varying gain compensator is first designed by relative output information of neighboring agents.Subsequently,a distributed controller with dynamic event-triggered mechanism is proposed to drive the bipartite consensus error to zero.It is worth noting that an internal dynamic variable is introduced in triggering function,which plays an essential role in excluding the Zeno behavior and reducing energy consumption.Furthermore,the dynamic event-triggered control protocol is developed for upper triangular multi-agent systems to realize the bipartite consensus without Zeno behavior.Finally,simulation examples are provided to illustrate the effectiveness of the presented results.
基金supported in part by the National Natural Science Foundation of China(62473221)the Natural Science Foundation of Shandong Province,China(ZR2024MF006)Qingdao Natural Science Foundation(24-4-4-zrjj-165-jch)。
文摘This paper is concerned with event-triggered control of discrete-time systems with or without input saturation.First,an accumulative-error-based event-triggered scheme is devised for control updates.When the accumulated error between the current state and the latest control update exceeds a certain threshold,an event is triggered.Such a scheme can ensure the event-generator works at a relatively low rate rather than falls into hibernation especially after the system steps into its steady state.Second,the looped functional method for continuous-time systems is extended to discrete-time systems.By introducing an innovative looped functional that links the event-triggered scheme,some sufficient conditions for the co-design of control gain and event-triggered parameters are obtained in terms of linear matrix inequalities with a couple of tuning parameters.Then,the proposed method is applied to discrete-time systems with input saturation.As a result,both suitable control gains and event-triggered parameters are also co-designed to ensure the system trajectories converge to the region of attraction.Finally,an unstable reactor system and an inverted pendulum system are given to show the effectiveness of the proposed method.
基金supported in part by the National Natural Science Foundation of China(62125306)Zhejiang Key Research and Development Project(2024C01163)the State Key Laboratory of Industrial Control Technology,China(ICT2024A06)
文摘In recent decades,control performance monitoring(CPM)has experienced remarkable progress in research and industrial applications.While CPM research has been investigated using various benchmarks,the historical data benchmark(HIS)has garnered the most attention due to its practicality and effectiveness.However,existing CPM reviews usually focus on the theoretical benchmark,and there is a lack of an in-depth review that thoroughly explores HIS-based methods.In this article,a comprehensive overview of HIS-based CPM is provided.First,we provide a novel static-dynamic perspective on data-level manifestations of control performance underlying typical controller capacities including regulation and servo:static and dynamic properties.The static property portrays time-independent variability in system output,and the dynamic property describes temporal behavior driven by closed-loop feedback.Accordingly,existing HIS-based CPM approaches and their intrinsic motivations are classified and analyzed from these two perspectives.Specifically,two mainstream solutions for CPM methods are summarized,including static analysis and dynamic analysis,which match data-driven techniques with actual controlling behavior.Furthermore,this paper also points out various opportunities and challenges faced in CPM for modern industry and provides promising directions in the context of artificial intelligence for inspiring future research.
基金supported by the National Natural Science Foundation of China(No.12332023)the Zhejiang Provincial Natural Science Foundation of China(No.LY23E050010).
文摘1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki et al.,2010;Englsberger et al.,2015;Xie et al.,2020).With regard to model-based gait-generation methods for uphill and downhill terrain,Kuo(2007)simulated human gait using an inverted pendulum,which provided a circular trajectory for the COM rather than a horizontal trajectory.He found that a horizontal COM trajectory consumed more muscle energy.Massah et al.(2012)utilized a 3D LIPM and the concept of zero moment point(ZMP).They developed a trajectory planner using the semi-elliptical motion equations of an NAO humanoid robot and simulated walking on various sloped terrains using the Webots platform.
