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1.
This work is concerned with the finite-time sliding mode control for a class of Markovian jump systems subject to actuator nonlinearities, where the elements in the transition rate matrix are uncertain or even completely unknown. A suitable sliding mode controller is designed such that the finite-time stochastic boundedness of state trajectories is attained during a given finite-time interval, in which two different robust terms are introduced for the known and unknown modes to deal with the effect of uncertain transition rates. Moreover, the connections among sliding functions under Markovian jumping for SMC systems are analyzed. Finally, some simulation results with a wheeled mobile manipulator are provided.  相似文献   

2.
This paper is concerned with asynchronous stabilization for a class of discrete-time Markovian jump systems. The mode of designed controller is considered to be not perfectly synchronous with the activated mode of the Markovian jump system. In order to achieve the asymptotic stability with asynchronous controller, a conditional probability is introduced to describe the asynchronism of system and controller modes, which is dependent on the active system mode. Besides, due to the difficulty in acquiring all the mode transition probabilities in practice, the transition probabilities of the Markovian jump system and the controllers are supposed to be partially unknown. A necessary and sufficient condition is developed to guarantee the stochastic stability of the resultant closed-loop system and further extended to asynchronous stabilization with partially known transition probabilities. Finally, the effectiveness and advantages of the proposed methods are demonstrated by two illustrative examples.  相似文献   

3.
This paper studies the finite-time lag synchronization issue of master-slave complex networks with unknown signal propagation delays by the linear and adaptive error state feedback approaches. The unknown signal propagation delays are fully considered and estimated by adaptive laws. By designing new Lyapunov functional and discontinuous feedback controllers, which involves the estimated error rather than the general synchronization error, sufficient conditions are derived to ensure lag synchronization of the networks within a setting time. It is interesting to discover that the setting time is related to initial values of both the estimated error and the estimated unknown signal propagation delays. Finally, two numerical examples are given to illustrate the effectiveness and correctness of the proposed finite-time lag synchronization criteria.  相似文献   

4.
This paper deals with the input–output finite-time stabilization problem for Markovian jump systems (MJSs) with incompletely known transition rates. An observer-based output feedback controller is constructed to study the input–output finite-time stability (IO-FTS) problem. By using the mode-dependent Lyapunov–krasovskii functional method, a sufficient criterion checking the IO-FTS problem is provided. Then, an observer and a corresponding state feedback controller for the individual subsystem are respectively designed to solve the input–output finite-time stabilization problem for the systems. Finally, a numerical example on the mass-spring system model is investigated to bring out the advantages of the control scheme proposed in this paper.  相似文献   

5.
《Journal of The Franklin Institute》2022,359(18):10653-10675
Without considering identical systems, this paper investigates the finite-time lag projective synchronization of nonidentical fractional delayed memristive neural networks (FDMNN) by designing a novel fractional sliding mode controller (SMC). Due to the existence of memristor, the research is under the framework of Filippov solution. We firstly construct a fractional integral sliding mode surface (SMS). Based on sliding mode control theory and Lyapunov stability theorem, a novel fractional SMC is proposed to realize the lag projective synchronization of nonidentical FDMNN in finite time, and the synchronization setting time is less conservative than the existing results. As the special cases, some sufficient conditions are extended to projective synchronization, lag synchronization, anti-lag synchronization of nonidentical FDMNN in finite time, which improve and enrich some existing results. At last, a simulation example is given to prove the validity of the conclusions.  相似文献   

6.
In this paper, we concern the finite-time synchronization problem for delayed dynamical networks via aperiodically intermittent control. Compared with some correspondingly previous results, the intermittent control can be aperiodic which is more general. Moreover, by establishing a new differential inequality and constructing Lyapunov function, several useful criteria are derived analytically to realize finite-time synchronization for delay complex networks. Additionally, as a special case, some sufficient conditions ensuring the finite-time synchronization for a class of coupled neural network are obtained. It is worth noting that the convergence time is carefully discussed and does not depend on control widths or rest widths for the proposed aperiodically intermittent control. Finally, a numerical example is given to demonstrate the validness of the proposed scheme.  相似文献   

7.
This paper investigates a quaternion-based finite-time cooperative attitude synchronization and tracking of multiple rigid spacecraft with a virtual leader subject to bounded external disturbances. Firstly, the communication network between followers is assumed to be an undirected graph and every follower can get a direct access to the virtual leader, by using two neighborhood attitude error signals, a novel chattering-free recursive full-order sliding mode control algorithm is proposed such that all follower spacecraft synchronize to the virtual leader in finite time. In the proposed algorithm, the sliding mode surface is constructed by two layers of sliding mode surfaces, which are called as the outer and the inner sliding mode surfaces. To achieve finite-time performance of sliding mode dynamics, the outer sliding mode surface is designed as a terminal sliding mode manifold, and the inner one is designed as a fast nonsingular terminal sliding mode manifold, respectively. Then, to reduce the heavy communication burden, a distributed recursive full-order sliding mode control law is designed by introducing a distributed finite-time sliding mode estimator such that only a subset of the group members has access to the virtual leader. Finally, a numerical example is illustrated to demonstrate the validity of the proposed results.  相似文献   

8.
This paper addresses distributed formation control for a group of quadrotor unmanned aerial vehicles (UAVs) under Markovian switching topologies with partially unknown transition rates. Instead of the general stochastic topology, the graph is governed by a set of Markov chains to the edges, which can recover the traditional Markovian switching topologies in line with the practical communication network. Extended high gain observers (EHGOs) are constructed with a two-time-scale format to deal with the issue of nonlinear input coefficients, so that there could be a higher estimation precision of the system uncertainties. To impel multiple quadrotor UAVs to achieve a predesigned formation shape, a modified integral sliding mode (ISM) control protocol is proposed here with a multi-time-scale structure, which allows independent analysis of the dynamics in each time scale. The stability proof for the system state space origin is derived from the singular perturbation method and Lyapunov stability theory. In addition, the introduced ISM controller can deal with the time varying desired references with the bounded accelerations and is robust to the disturbances. Finally, simulations on six quadrotor UAVs are given to verify the effectiveness of the theoretical results.  相似文献   

9.
Finite-time inter-layer projective synchronization (FIPS) of Caputo fractional-order two-layer networks (FTN) based on sliding mode control (SMC) technique is investigated in this article. Firstly, in order to realize the FIPS of FTN, a fractional-order integral sliding mode surface (SMS) is established. Then, through the theory of SMC, we design a sliding mode controller (SMCr) to ensure the appearance of sliding mode motion. According to the fractional Lyapunov direct method, the trajectories of the system are driven to the proposed SMS, and some novel sufficient conditions for FIPS of FTN are derived. Furthermore, as two special cases of FIPS, finite-time inter-layer synchronization and finite-time inter-layer anti-synchronization for the FTN are studied. Finally, this paper takes the fractional-order chaotic Lü’s system and the fractional-order chaotic Chen’s system as the isolated node of the first layer system and the second layer system, respectively. And the numerical simulations are given to demonstrate the feasibility and validity of the proposed theoretical results.  相似文献   

10.
The finite-time stochastic boundedness (FTSB) via the sliding mode control (SMC) approach is analyzed for Markovian jumping systems (MJSs) with time-delays. First, an integral switching surface is constructed. And to make sure the reachability of the sliding mode surface in a finite-time, an SMC law is designed. In addition, the delay-dependent criteria for FTSB are obtained over the reaching phase and the sliding motion phase. Furthermore, in line with linear matrix inequalities (LMIs), sufficient conditions are provided to guarantee the FTSB of systems over the whole finite-time interval. Lastly, an example is given to indicate the validity of the proposed approach.  相似文献   

11.
In this paper, the finite-time synchronization problem of complex dynamic networks with time delay is studied via aperiodically intermittent control. By compared with the existed results concerning aperiodically intermittent control, some new results are obtained to guarantee the synchronization of networks in a finite time. Especially, a new lemma is proposed to reduce the convergence time. In addition, based on aperiodically intermittent control scheme, the essential condition ensuring finite-time synchronization of dynamic networks is also obtained, and the convergence time is closely related to the topological structure of networks and the maximum ratio of the rest width to the aperiodic time span. Finally, a numerical example is provided to verify the validness of the proposed theoretical results.  相似文献   

12.
In this paper, a guidance scheme for impact angle control against maneuvering targets with unknown target acceleration is proposed. In this scheme, the unknown target acceleration is estimated via a linear extended state observer; a novel time-varying global slide mode control technique is presented to eliminate the reaching phase and enforce a desired impact angle exactly at the time of interception with finite-time convergence, good robustness, high precision and smooth guidance command. Moreover, feasible guidance logics are developed to achieve all-aspect interception with the tolerance of large initial heading errors. Numerical simulations in various scenarios are performed to verify the performance of the proposed guidance scheme.  相似文献   

13.
This paper studies the optimal finite-time passive control problem for a class of uncertain nonlinear Markovian jumping systems (MJSs). The Takagi and Sugeno (T–S) fuzzy model is employed to represent the nonlinear system with Markovian jump parameters and norm-bounded uncertainties. By selecting an appropriate Lyapunov-Krasovskii functional, it gives a sufficient condition for the existence of finite-time passive controller such that the uncertain nonlinear MJSs is stochastically finite-time bounded for all admissible uncertainties and satisfies the given passive control index in a finite time-interval. The sufficient condition on the existence of optimal finite-time fuzzy passive controller is formulated in the form of linear matrix inequalities and the designed algorithm is described as an optimization one. A numerical example is given at last to illustrate the effectiveness of the proposed design approach.  相似文献   

14.
In this paper, the appointed-time prescribed performance and finite-time tracking control problem is investigated for quadrotor unmanned aerial vehicle (QUAV) in the presence of time-varying load, unknown external disturbances and unknown system parameters. For the position loop, a novel appointed-time prescribed performance control (ATPPC) strategy is proposed based on adaptive dynamic surface control (DSC) frameworks and a new prescribed performance function to achieve the appointed-time convergence and prescribed transient and steady-state performance. For the attitude loop, a new finite-time control strategy is proposed based on a new designed sliding mode control technique to track the desired attitude in finite time. Some assumptions of knowing system parameters are canceled. Finally, the stability of the closed-loop system is proved via Lyapunov Theory. Simulations are performed to show the effectiveness and superiority of the proposed control scheme.  相似文献   

15.
In this paper, the finite-time synchronization between two complex dynamical networks via the periodically intermittent adaptive control and the periodically intermittent feedback control is studied. The finite-time synchronization criteria are derived based on finite-time stability theory, the differential inequality and the analysis technique. Since the traditional synchronization criteria for some models are improved in the convergence time by using the novel periodically intermittent adaptive control and periodically intermittent feedback control, the results of this paper are important. Numerical examples are finally presented to illustrate the effectiveness and correctness of the theoretical results.  相似文献   

16.
In this paper, the finite-time group consensus for a class of heterogeneous multi-agent systems (HMASs) with bounded disturbances is studied by designing a pinning control scheme with an integral sliding mode. For an HMAS without disturbance, a continuous finite-time consensus protocol with a pinning and grouping strategy is proposed. Under the designed control protocol, the HMAS achieves consensus according to the given grouping requirement in a finite time and the final states converge to the desired consistency values. The detailed theoretical proof is given on the strength of Lyapunov theory, LaSalle’s invariance principle and homogeneity with dilation principle. On this basis, this paper further introduces an integral sliding mode into finite-time group consensus protocol designed above such that the HMAS with one or more pinning agents can achieve accurate finite-time group consensus even if there exist uncertain bounded disturbances. It is noted that the control input is chattering-free. Two simulation examples are presented to illustrate the effectiveness of the proposed control schemes.  相似文献   

17.
A practical finite-time command filtered backstepping control method is proposed in this paper for a microwave plasma chemical vapor deposition (MPCVD) reactor system. The MPCVD reactor system is modeled as a coupled nonlinear system with unknown control direction functions and unknown nonlinearities. To address the unknown nonlinearities, novel practical finite-time command filters are proposed to construct the estimations of such nonlinearities. On the other hand, an equivalent augmented system of the reactor system is proposed to address the design challenges that posed by the system unknown control direction functions. Additionally, it can be concluded that the proposed control method ensures practical finite-time stability of the reactor system tracking errors by using the practical finite-time Lyapunov stability criterion. Finally, the effectiveness of the approach is demonstrated through the simulation results.  相似文献   

18.
In this paper, a sliding-mode approach is proposed for exponential H∞ synchronization problem of a class of master–slave time-delay systems with both discrete and distributed time-delays, norm-bounded nonlinear uncertainties and Markovian switching parameters. Using an appropriate Lyapunov–Krasovskii functional, some delay-dependent sufficient conditions and a synchronization law, which include the master–slave parameters are established for designing a delay-dependent mode-dependent sliding mode exponential H∞ synchronization control law in terms of linear matrix inequalities. The controller guarantees the H∞ synchronization of the two coupled master and slave systems regardless of their initial states. Two numerical examples are given to show the effectiveness of the method.  相似文献   

19.
This paper considers the finite-time synchronization problem for a class of fractional-order complex dynamical networks (FOCDNs). By utilizing the properties of fractional calculus and fractional-order comparison principle, we propose a new lemma. Base on the new lemma, some analysis techniques and algebraic graph theory method, some novel criteria are given to ensure finite-time synchronization of FOCDNs, and the upper bound of the setting time for synchronization is estimated. At last, numerical simulations are given to verify the effectiveness of the obtained results.  相似文献   

20.
A continuous multivariable uniform finite-time output feedback reentry attitude control scheme is developed for Reusable Launch Vehicle (RLV) with both matched and mismatched disturbances. A novel finite-time controller is derived using the bi-limit homogeneous technique, which ensures that the attitude tracking can be achieved in a uniformly bounded convergence time from any initial states. A multivariable uniform finite-time observer is designed based on an arbitrary order robust sliding mode differentiator to estimate the unknown states and the external disturbances, simultaneously. Then, an output feedback control scheme is established through the combination of the developed controller and the observer. A rigorous proof of the uniform finite-time stability of the closed-loop system is presented using Lyapunov and homogeneous techniques. Finally, numerical simulation is provided to demonstrate the efficiency of the proposed scheme.  相似文献   

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