A composite anti-disturbance predictive control strategy employing a Multi-dimensional Taylor Network(MTN)is presented for unmanned systems subject to time-delay and multi-source disturbances.First,the multi-source di...A composite anti-disturbance predictive control strategy employing a Multi-dimensional Taylor Network(MTN)is presented for unmanned systems subject to time-delay and multi-source disturbances.First,the multi-source disturbances are addressed according to their specific characteristics as follows:(A)an MTN data-driven model,which is used for uncertainty description,is designed accompanied with the mechanism model to represent the unmanned systems;(B)an adaptive MTN filter is used to remove the influence of the internal disturbance;(C)an MTN disturbance observer is constructed to estimate and compensate for the influence of the external disturbance;(D)the Extended Kalman Filter(EKF)algorithm is utilized as the learning mechanism for MTNs.Second,to address the time-delay effect,a recursiveτstep-ahead MTN predictive model is designed utilizing recursive technology,aiming to mitigate the impact of time-delay,and the EKF algorithm is employed as its learning mechanism.Then,the MTN predictive control law is designed based on the quadratic performance index.By implementing the proposed composite controller to unmanned systems,simultaneous feedforward compensation and feedback suppression to the multi-source disturbances are conducted.Finally,the convergence of the MTN and the stability of the closed-loop system are established utilizing the Lyapunov theorem.Two exemplary applications of unmanned systems involving unmanned vehicle and rigid spacecraft are presented to validate the effectiveness of the proposed approach.展开更多
Dear Editor,In this letter,a constrained networked predictive control strategy is proposed for the optimal control problem of complex nonlinear highorder fully actuated(HOFA)systems with noises.The method can effectiv...Dear Editor,In this letter,a constrained networked predictive control strategy is proposed for the optimal control problem of complex nonlinear highorder fully actuated(HOFA)systems with noises.The method can effectively deal with nonlinearities,constraints,and noises in the system,optimize the performance metric,and present an upper bound on the stable output of the system.展开更多
To handle input and output time delays that commonly exist in many networked control systems(NCSs), a new robust continuous sliding mode control(CSMC) scheme is proposed for the output tracking in uncertain single inp...To handle input and output time delays that commonly exist in many networked control systems(NCSs), a new robust continuous sliding mode control(CSMC) scheme is proposed for the output tracking in uncertain single input-single-output(SISO) networked control systems. This scheme consists of three consecutive steps. First, although the network-induced delay in those systems can be effectively handled by using Pade approximation(PA), the unmatched disturbance cames out as another difficulty in the control design. Second, to actively estimate this unmatched disturbance, a generalized proportional integral observer(GPIO) technique is utilized based on only one measured state. Third, by constructing a new sliding manifold with the aid of the estimated unmatched disturbance and states, a GPIO-based CSMC is synthesized, which is employed to cope with not only matched and unmatched disturbances, but also networkinduced delays. The stability of the entire closed-loop system under the proposed GPIO-based CSMC is detailedly analyzed.The promising tracking efficiency and feasibility of the proposed control methodology are verified through simulations and experiments on Quanser's servo module for motion control under various test conditions.展开更多
Dear Editor,The attacker is always going to intrude covertly networked control systems(NCSs)by dynamically changing false data injection attacks(FDIAs)strategy,while the defender try their best to resist attacks by de...Dear Editor,The attacker is always going to intrude covertly networked control systems(NCSs)by dynamically changing false data injection attacks(FDIAs)strategy,while the defender try their best to resist attacks by designing defense strategy on the basis of identifying attack strategy,maintaining stable operation of NCSs.To solve this attack-defense game problem,this letter investigates optimal secure control of NCSs under FDIAs.First,for the alterations of energy caused by false data,a novel attack-defense game model is constructed,which considers the changes of energy caused by the actions of the defender and attacker in the forward and feedback channels.展开更多
This paper investigates the problem of optimal secure control for networked control systems under hybrid attacks.A control strategy based on the Stackelberg game framework is proposed,which differs from conventional m...This paper investigates the problem of optimal secure control for networked control systems under hybrid attacks.A control strategy based on the Stackelberg game framework is proposed,which differs from conventional methods by considering both denial-of-service(DoS)and false data injection(FDI)attacks simultaneously.Additionally,the stability conditions for the system under these hybrid attacks are established.It is technically challenging to design the control strategy by predicting attacker actions based on Stcakelberg game to ensure the system stability under hybrid attacks.Another technical difficulty lies in establishing the conditions for mean-square asymptotic stability due to the complexity of the attack scenarios Finally,simulations on an unstable batch reactor system under hybrid attacks demonstrate the effectiveness of the proposed strategy.展开更多
Dear Editor,This letter studies the stabilization control issue of cyber-physical systems with time-varying delays and aperiodic denial-of-service(DoS)attacks.To address the calculation overload issue caused by networ...Dear Editor,This letter studies the stabilization control issue of cyber-physical systems with time-varying delays and aperiodic denial-of-service(DoS)attacks.To address the calculation overload issue caused by networked predictive control(NPC)approach,an event-based NPC method is proposed.Within the proposed method,the negative effects of time-varying delays and DoS attacks on system performance are compensated.Then,sufficient and necessary conditions are derived to ensure the stability of the closed-loop system.In the end,simulation results are provided to demonstrate the validity of presented method.展开更多
Dear Editor,This letter addresses the robust predefined-time control challenge for leaderless optimal formation in networked mobile vehicle(NMV)systems.The aim is to minimize a composite global cost function derived f...Dear Editor,This letter addresses the robust predefined-time control challenge for leaderless optimal formation in networked mobile vehicle(NMV)systems.The aim is to minimize a composite global cost function derived from individual strongly convex functions of each agent,considering both input disturbances and network communication constraints.A novel predefined-time optimal formation control(PTOFC)algorithm is presented,ensuring agent state convergence to optimal formation positions within an adjustable settling time.Through the integration of an integral sliding mode technique,disturbances are effectively countered.A representative numerical example highlights the effectiveness and robustness of the developed approach.展开更多
Dear Editor,This letter focuses on the distributed cooperative regulation problem for a class of networked re-entrant manufacturing systems(RMSs).The networked system is structured with a three-tier architecture:the p...Dear Editor,This letter focuses on the distributed cooperative regulation problem for a class of networked re-entrant manufacturing systems(RMSs).The networked system is structured with a three-tier architecture:the production line,the manufacturing layer and the workshop layer.The dynamics of re-entrant production lines are governed by hyperbolic partial differential equations(PDEs)based on the law of mass conservation.展开更多
Dear Editor,This letter presents a joint probabilistic scheduling and resource allocation method(PSRA) for 5G-based wireless networked control systems(WNCSs). As a control-aware optimization method, PSRA minimizes the...Dear Editor,This letter presents a joint probabilistic scheduling and resource allocation method(PSRA) for 5G-based wireless networked control systems(WNCSs). As a control-aware optimization method, PSRA minimizes the linear quadratic Gaussian(LQG) control cost of WNCSs by optimizing the activation probability of subsystems, the number of uplink repetitions, and the durations of uplink and downlink phases. Simulation results show that PSRA achieves smaller LQG control costs than existing works.展开更多
This paper deals with the problem of delay-dependent stability and stabilization for networked control systems(NCSs)with multiple time-delays.In view of multi-input and multi-output(MIMO)NCSs with many independent sen...This paper deals with the problem of delay-dependent stability and stabilization for networked control systems(NCSs)with multiple time-delays.In view of multi-input and multi-output(MIMO)NCSs with many independent sensors and actuators,a continuous time model with distributed time-delays is proposed.Utilizing the Lyapunov stability theory combined with linear matrix inequalities(LMIs)techniques,some new delay-dependent stability criteria for NCSs in terms of generalized Lyapunov matrix equation and LMIs are derived.Stabilizing controller via state feedback is formulated by solving a set of LMIs.Compared with the reported methods,the proposed methods give a less conservative delay bound and more general results.Numerical example and simulation show that the methods are less conservative and more effective.展开更多
In this paper,delay-dependent robust stability for a class of uncertain networked control systems(NCSs)with multiple state time-delays is investigated.Modeling of multi-input and multi-output(MIMO)NCSs with networkind...In this paper,delay-dependent robust stability for a class of uncertain networked control systems(NCSs)with multiple state time-delays is investigated.Modeling of multi-input and multi-output(MIMO)NCSs with networkinduced delays and uncertainties through new methods are proposed.Some new stability criteria in terms of LMIs are derived by using Lyapunov stability theory combined with linear matrix inequalities(LMIs)techniques.We analyze the delay-dependent asymptotic stability and obtain maximum allowable delay bound(MADB)for the NCSs with the proposed methods.Compared with the reported results,the proposed results obtain a much less conservative MADB which are more general.Numerical example and simulation is used to illustrate the effectiveness of the proposed methods.展开更多
The random delays in a networked control system (NCS) degrade control performance and can even destabilize the control system.To deal with this problem,the time-stamped predictive functional control (PFC) algorithm is...The random delays in a networked control system (NCS) degrade control performance and can even destabilize the control system.To deal with this problem,the time-stamped predictive functional control (PFC) algorithm is proposed,which generalizes the standard PFC algorithm to networked control systems with random delays.The algorithm uses the time-stamp method to estimate the control delay,predicts the future outputs based on a discrete time delay state space model,and drives the control law that applies to an NCS from the idea of a PFC algorithm.A networked control system was constructed based on TrueTime simulator,with which the time-stamped PFC algorithm was compared with the standard PFC algorithm.The response curves show that the proposed algorithm has better control performance.展开更多
Embodied intelligent systems integrate perception,control,and decision-making within physical agents,and have become a cornerstone of modern aerospace,autonomous driving,and cooperative robotic applications.When opera...Embodied intelligent systems integrate perception,control,and decision-making within physical agents,and have become a cornerstone of modern aerospace,autonomous driving,and cooperative robotic applications.When operating in uncertain and dynamic environments,such systems must address challenges arising from incomplete sensing,unpredictable maneuvers,communication constraints,disturbances,and evolving network structures.展开更多
In this paper,we investigate the distributed Nash equilibrium(NE)seeking problem for aggregative games with multiple uncertain Euler–Lagrange(EL)systems over jointly connected and weight-balanced switching networks.T...In this paper,we investigate the distributed Nash equilibrium(NE)seeking problem for aggregative games with multiple uncertain Euler–Lagrange(EL)systems over jointly connected and weight-balanced switching networks.The designed distributed controller consists of two parts:a dynamic average consensus part that asymptotically reproduces the unknown NE,and an adaptive reference-tracking module responsible for steering EL systems’positions to track a desired trajectory.The generalized Barbalat’s Lemma is used to overcome the discontinuity of the closed-loop system caused by the switching networks.The proposed algorithm is illustrated by a sensor network deployment problem.展开更多
This paper addresses the consensus problem of nonlinear multi-agent systems subject to external disturbances and uncertainties under denial-ofservice(DoS)attacks.Firstly,an observer-based state feedback control method...This paper addresses the consensus problem of nonlinear multi-agent systems subject to external disturbances and uncertainties under denial-ofservice(DoS)attacks.Firstly,an observer-based state feedback control method is employed to achieve secure control by estimating the system's state in real time.Secondly,by combining a memory-based adaptive eventtriggered mechanism with neural networks,the paper aims to approximate the nonlinear terms in the networked system and efficiently conserve system resources.Finally,based on a two-degree-of-freedom model of a vehicle affected by crosswinds,this paper constructs a multi-unmanned ground vehicle(Multi-UGV)system to validate the effectiveness of the proposed method.Simulation results show that the proposed control strategy can effectively handle external disturbances such as crosswinds in practical applications,ensuring the stability and reliable operation of the Multi-UGV system.展开更多
In this paper,we propose a neural network approach to learn the parameters of a class of stochastic Lotka-Volterra systems.Approximations of the mean and covariance matrix of the observational variables are obtained f...In this paper,we propose a neural network approach to learn the parameters of a class of stochastic Lotka-Volterra systems.Approximations of the mean and covariance matrix of the observational variables are obtained from the Euler-Maruyama discretization of the underlying stochastic differential equations(SDEs),based on which the loss function is built.The stochastic gradient descent method is applied in the neural network training.Numerical experiments demonstrate the effectiveness of our method.展开更多
This paper discusses the design of event-triggered output-feedback controller for a class of nonlinear time-delay systems with multiple uncertainties. In sharp contrast to previous works, the considered systems posses...This paper discusses the design of event-triggered output-feedback controller for a class of nonlinear time-delay systems with multiple uncertainties. In sharp contrast to previous works, the considered systems possess two important characteristics: (i) The uncertain nonlinear terms meet the linearly unmeasurable-states dependent growth with the growth rate being an unknown function of the input and output. (ii) There exist input matching uncertainty and unknown measurement sensitivity. By introducing a single dynamic gain and employing a cleverly devised event-triggering mechanism (ETM), we design a new gain-based event-triggered output-feedback controller, which globally regulates all states of the considered systems and maintains global boundedness of the closed-loop system. Furthermore, the estimation of input matching uncertainty achieves convergence towards its actual value, and Zeno behavior does not happen. Two simulation examples including a practical one show that the proposed approach is effective.展开更多
A switched system approach is proposed to model networked control systems （NCSs） with communication constraints. This enables us to apply the rich theory of switched systems to analyzing such NCSs. Sufficient condit...A switched system approach is proposed to model networked control systems （NCSs） with communication constraints. This enables us to apply the rich theory of switched systems to analyzing such NCSs. Sufficient conditions are presented on the stabilization of NCSs. Stabilizing state/output feedback controllers can be constructed by using the feasible solutions of some linear matrix inequalities （LMIs）. The merit of our proposed approach is that the behavior of the NCSs can be studied by considering switched system without augmenting the system. A simulation example is worked out to illustrate the effectiveness of the proposed approach.展开更多
For the past decades,networked control systems(NCSs),as an interdisciplinary subject,have been one of the main research highlights and many fruitful results from different aspects have been achieved.With these growing...For the past decades,networked control systems(NCSs),as an interdisciplinary subject,have been one of the main research highlights and many fruitful results from different aspects have been achieved.With these growing research trends,it is significant to consolidate the latest knowledge and information to keep up with the research needs.In this paper,the results of different aspects of NCSs,such as quantization,estimation,fault detection and networked predictive control,are summarized.In addition,with the development of cloud technique,cloud control systems are proposed for the further development of NCSs.展开更多
基金co-supported by the National Key R&D Program of China(No.2023YFB4704400)the Zhejiang Provincial Natural Science Foundation of China(No.LQ24F030012)the National Natural Science Foundation of China General Project(No.62373033)。
文摘A composite anti-disturbance predictive control strategy employing a Multi-dimensional Taylor Network(MTN)is presented for unmanned systems subject to time-delay and multi-source disturbances.First,the multi-source disturbances are addressed according to their specific characteristics as follows:(A)an MTN data-driven model,which is used for uncertainty description,is designed accompanied with the mechanism model to represent the unmanned systems;(B)an adaptive MTN filter is used to remove the influence of the internal disturbance;(C)an MTN disturbance observer is constructed to estimate and compensate for the influence of the external disturbance;(D)the Extended Kalman Filter(EKF)algorithm is utilized as the learning mechanism for MTNs.Second,to address the time-delay effect,a recursiveτstep-ahead MTN predictive model is designed utilizing recursive technology,aiming to mitigate the impact of time-delay,and the EKF algorithm is employed as its learning mechanism.Then,the MTN predictive control law is designed based on the quadratic performance index.By implementing the proposed composite controller to unmanned systems,simultaneous feedforward compensation and feedback suppression to the multi-source disturbances are conducted.Finally,the convergence of the MTN and the stability of the closed-loop system are established utilizing the Lyapunov theorem.Two exemplary applications of unmanned systems involving unmanned vehicle and rigid spacecraft are presented to validate the effectiveness of the proposed approach.
基金supported in part by the National Natural Science Foundation of China(62173255,62188101)Shenzhen Key Laboratory of Control Theory and Intelligent Systems(ZDSYS20220330161800001)
文摘Dear Editor,In this letter,a constrained networked predictive control strategy is proposed for the optimal control problem of complex nonlinear highorder fully actuated(HOFA)systems with noises.The method can effectively deal with nonlinearities,constraints,and noises in the system,optimize the performance metric,and present an upper bound on the stable output of the system.
基金supported in part by the Australian Research Council Discovery Project(DP190101557)
文摘To handle input and output time delays that commonly exist in many networked control systems(NCSs), a new robust continuous sliding mode control(CSMC) scheme is proposed for the output tracking in uncertain single input-single-output(SISO) networked control systems. This scheme consists of three consecutive steps. First, although the network-induced delay in those systems can be effectively handled by using Pade approximation(PA), the unmatched disturbance cames out as another difficulty in the control design. Second, to actively estimate this unmatched disturbance, a generalized proportional integral observer(GPIO) technique is utilized based on only one measured state. Third, by constructing a new sliding manifold with the aid of the estimated unmatched disturbance and states, a GPIO-based CSMC is synthesized, which is employed to cope with not only matched and unmatched disturbances, but also networkinduced delays. The stability of the entire closed-loop system under the proposed GPIO-based CSMC is detailedly analyzed.The promising tracking efficiency and feasibility of the proposed control methodology are verified through simulations and experiments on Quanser's servo module for motion control under various test conditions.
基金supported in part by the National Science Foundation of China(62373240,62273224,U24A20259).
文摘Dear Editor,The attacker is always going to intrude covertly networked control systems(NCSs)by dynamically changing false data injection attacks(FDIAs)strategy,while the defender try their best to resist attacks by designing defense strategy on the basis of identifying attack strategy,maintaining stable operation of NCSs.To solve this attack-defense game problem,this letter investigates optimal secure control of NCSs under FDIAs.First,for the alterations of energy caused by false data,a novel attack-defense game model is constructed,which considers the changes of energy caused by the actions of the defender and attacker in the forward and feedback channels.
基金supported in part by Shanghai Rising-Star Program,China under grant 22QA1409400in part by National Natural Science Foundation of China under grant 62473287 and 62088101in part by Shanghai Municipal Science and Technology Major Project under grant 2021SHZDZX0100.
文摘This paper investigates the problem of optimal secure control for networked control systems under hybrid attacks.A control strategy based on the Stackelberg game framework is proposed,which differs from conventional methods by considering both denial-of-service(DoS)and false data injection(FDI)attacks simultaneously.Additionally,the stability conditions for the system under these hybrid attacks are established.It is technically challenging to design the control strategy by predicting attacker actions based on Stcakelberg game to ensure the system stability under hybrid attacks.Another technical difficulty lies in establishing the conditions for mean-square asymptotic stability due to the complexity of the attack scenarios Finally,simulations on an unstable batch reactor system under hybrid attacks demonstrate the effectiveness of the proposed strategy.
基金supported by the National Natural Science Foundation of China(61433003,60904003,11602019).
文摘Dear Editor,This letter studies the stabilization control issue of cyber-physical systems with time-varying delays and aperiodic denial-of-service(DoS)attacks.To address the calculation overload issue caused by networked predictive control(NPC)approach,an event-based NPC method is proposed.Within the proposed method,the negative effects of time-varying delays and DoS attacks on system performance are compensated.Then,sufficient and necessary conditions are derived to ensure the stability of the closed-loop system.In the end,simulation results are provided to demonstrate the validity of presented method.
基金supported by the National Natural Science Foundation of China(62373162,U24A20268,624B2055)the Shenzhen Science and Technology Program(JCYJ 20240813114007010)the Knowledge Innovation Program of Wuhan-Basic Research(2023010201010100).
文摘Dear Editor,This letter addresses the robust predefined-time control challenge for leaderless optimal formation in networked mobile vehicle(NMV)systems.The aim is to minimize a composite global cost function derived from individual strongly convex functions of each agent,considering both input disturbances and network communication constraints.A novel predefined-time optimal formation control(PTOFC)algorithm is presented,ensuring agent state convergence to optimal formation positions within an adjustable settling time.Through the integration of an integral sliding mode technique,disturbances are effectively countered.A representative numerical example highlights the effectiveness and robustness of the developed approach.
文摘Dear Editor,This letter focuses on the distributed cooperative regulation problem for a class of networked re-entrant manufacturing systems(RMSs).The networked system is structured with a three-tier architecture:the production line,the manufacturing layer and the workshop layer.The dynamics of re-entrant production lines are governed by hyperbolic partial differential equations(PDEs)based on the law of mass conservation.
基金supported by the Liaoning Revitalization Talents Program(XLYC2203148)
文摘Dear Editor,This letter presents a joint probabilistic scheduling and resource allocation method(PSRA) for 5G-based wireless networked control systems(WNCSs). As a control-aware optimization method, PSRA minimizes the linear quadratic Gaussian(LQG) control cost of WNCSs by optimizing the activation probability of subsystems, the number of uplink repetitions, and the durations of uplink and downlink phases. Simulation results show that PSRA achieves smaller LQG control costs than existing works.
基金This work was supported by the National Natural Science Foundation of China(No.60275013).
文摘This paper deals with the problem of delay-dependent stability and stabilization for networked control systems(NCSs)with multiple time-delays.In view of multi-input and multi-output(MIMO)NCSs with many independent sensors and actuators,a continuous time model with distributed time-delays is proposed.Utilizing the Lyapunov stability theory combined with linear matrix inequalities(LMIs)techniques,some new delay-dependent stability criteria for NCSs in terms of generalized Lyapunov matrix equation and LMIs are derived.Stabilizing controller via state feedback is formulated by solving a set of LMIs.Compared with the reported methods,the proposed methods give a less conservative delay bound and more general results.Numerical example and simulation show that the methods are less conservative and more effective.
基金the National Natural Science Foundation of China(No.60275013).
文摘In this paper,delay-dependent robust stability for a class of uncertain networked control systems(NCSs)with multiple state time-delays is investigated.Modeling of multi-input and multi-output(MIMO)NCSs with networkinduced delays and uncertainties through new methods are proposed.Some new stability criteria in terms of LMIs are derived by using Lyapunov stability theory combined with linear matrix inequalities(LMIs)techniques.We analyze the delay-dependent asymptotic stability and obtain maximum allowable delay bound(MADB)for the NCSs with the proposed methods.Compared with the reported results,the proposed results obtain a much less conservative MADB which are more general.Numerical example and simulation is used to illustrate the effectiveness of the proposed methods.
基金Supported by National Natural Science Foundation of P. R. China （60325311, 60534010, 60572070, 60521003）, the Program for Changjiang Scholars and Innovative Research Team in University （IRT0421）
文摘柔韧的 H 联网了控制方法因为有无常和时间的模糊系统推迟的 Takagi-Sugeno (T-S ) 被介绍。一个州的反馈控制器经由联网的控制系统(NCS ) 被设计理论。为有 H 性能的柔韧的稳定性的足够的状况被获得。在网络传播和包退学学生的导致网络的延期被分析。模拟结果显示出这个控制计划的有效性。
文摘The random delays in a networked control system (NCS) degrade control performance and can even destabilize the control system.To deal with this problem,the time-stamped predictive functional control (PFC) algorithm is proposed,which generalizes the standard PFC algorithm to networked control systems with random delays.The algorithm uses the time-stamp method to estimate the control delay,predicts the future outputs based on a discrete time delay state space model,and drives the control law that applies to an NCS from the idea of a PFC algorithm.A networked control system was constructed based on TrueTime simulator,with which the time-stamped PFC algorithm was compared with the standard PFC algorithm.The response curves show that the proposed algorithm has better control performance.
文摘Embodied intelligent systems integrate perception,control,and decision-making within physical agents,and have become a cornerstone of modern aerospace,autonomous driving,and cooperative robotic applications.When operating in uncertain and dynamic environments,such systems must address challenges arising from incomplete sensing,unpredictable maneuvers,communication constraints,disturbances,and evolving network structures.
基金supported by the Research Grants Council of the Hong Kong Special Administration Region under the Grant No.14201621。
文摘In this paper,we investigate the distributed Nash equilibrium(NE)seeking problem for aggregative games with multiple uncertain Euler–Lagrange(EL)systems over jointly connected and weight-balanced switching networks.The designed distributed controller consists of two parts:a dynamic average consensus part that asymptotically reproduces the unknown NE,and an adaptive reference-tracking module responsible for steering EL systems’positions to track a desired trajectory.The generalized Barbalat’s Lemma is used to overcome the discontinuity of the closed-loop system caused by the switching networks.The proposed algorithm is illustrated by a sensor network deployment problem.
基金The National Natural Science Foundation of China(W2431048)The Science and Technology Research Program of Chongqing Municipal Education Commission,China(KJZDK202300807)The Chongqing Natural Science Foundation,China(CSTB2024NSCQQCXMX0052).
文摘This paper addresses the consensus problem of nonlinear multi-agent systems subject to external disturbances and uncertainties under denial-ofservice(DoS)attacks.Firstly,an observer-based state feedback control method is employed to achieve secure control by estimating the system's state in real time.Secondly,by combining a memory-based adaptive eventtriggered mechanism with neural networks,the paper aims to approximate the nonlinear terms in the networked system and efficiently conserve system resources.Finally,based on a two-degree-of-freedom model of a vehicle affected by crosswinds,this paper constructs a multi-unmanned ground vehicle(Multi-UGV)system to validate the effectiveness of the proposed method.Simulation results show that the proposed control strategy can effectively handle external disturbances such as crosswinds in practical applications,ensuring the stability and reliable operation of the Multi-UGV system.
基金Supported by the National Natural Science Foundation of China(11971458,11471310)。
文摘In this paper,we propose a neural network approach to learn the parameters of a class of stochastic Lotka-Volterra systems.Approximations of the mean and covariance matrix of the observational variables are obtained from the Euler-Maruyama discretization of the underlying stochastic differential equations(SDEs),based on which the loss function is built.The stochastic gradient descent method is applied in the neural network training.Numerical experiments demonstrate the effectiveness of our method.
基金supported by the fund of Beijing Municipal Commission of Education(KM202210017001 and 22019821001)the Natural Science Foundation of Henan Province(222300420253).
文摘This paper discusses the design of event-triggered output-feedback controller for a class of nonlinear time-delay systems with multiple uncertainties. In sharp contrast to previous works, the considered systems possess two important characteristics: (i) The uncertain nonlinear terms meet the linearly unmeasurable-states dependent growth with the growth rate being an unknown function of the input and output. (ii) There exist input matching uncertainty and unknown measurement sensitivity. By introducing a single dynamic gain and employing a cleverly devised event-triggering mechanism (ETM), we design a new gain-based event-triggered output-feedback controller, which globally regulates all states of the considered systems and maintains global boundedness of the closed-loop system. Furthermore, the estimation of input matching uncertainty achieves convergence towards its actual value, and Zeno behavior does not happen. Two simulation examples including a practical one show that the proposed approach is effective.
基金This work is supported by the National Natural Science Foundation of China (No. 60528007, 10372002, 60274001, 60304003), the National KeyBasic Research and Development Program (No. 2002CB312200).
文摘A switched system approach is proposed to model networked control systems （NCSs） with communication constraints. This enables us to apply the rich theory of switched systems to analyzing such NCSs. Sufficient conditions are presented on the stabilization of NCSs. Stabilizing state/output feedback controllers can be constructed by using the feasible solutions of some linear matrix inequalities （LMIs）. The merit of our proposed approach is that the behavior of the NCSs can be studied by considering switched system without augmenting the system. A simulation example is worked out to illustrate the effectiveness of the proposed approach.
基金supported by National Basic Research Program of China(973 Program)(No.2012CB720000)National Natural Science Foundation of China(Nos.61225015 and 60974011)+3 种基金Foundation for Innovative Research Groups of the National Natural Science Foundation of China(No.61321002)Beijing Municipal Natural Science Foundation(Nos.4102053 and 4101001)Beijing Natural Science Foundation(Nos.4132042)Beijing Higher Education Young Elite Teacher Project(No.YETP1212)
文摘For the past decades,networked control systems(NCSs),as an interdisciplinary subject,have been one of the main research highlights and many fruitful results from different aspects have been achieved.With these growing research trends,it is significant to consolidate the latest knowledge and information to keep up with the research needs.In this paper,the results of different aspects of NCSs,such as quantization,estimation,fault detection and networked predictive control,are summarized.In addition,with the development of cloud technique,cloud control systems are proposed for the further development of NCSs.
