共查询到20条相似文献，搜索用时 328 毫秒
1.
This paper investigates the control problem for nonlinear networked control systems with global Lipschitz nonlinearities subject to output quantization and data packet dropout. The system states are unavailable and the outputs are quantized in a logarithmic form before transmitted through network. In the communication channel, two types of packet losses are considered simultaneously: (i) packet losses from sensor to controller and (ii) packet losses from controller to actuator, which are modeled as two independent Bernoulli distributed white sequences, respectively. Based on the proposed model, an observer-based controller is designed to exponentially stabilize the networked system in the sense of mean square, and sufficient conditions for the existence of the controller are established. Finally, a numerical example is presented to illustrate the effectiveness and applicability of the proposed technique. 相似文献
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In this paper, a distributed control protocol is presented for discrete-time heterogeneous multi-agent systems in order to achieve formation consensus against link failures and actuator/sensor faults under fixed and switching topologies. A model equivalent method is proposed to deal with the heterogeneous system consists of arbitrary order systems with different parameters. Based on graph theory and Lyapunov theory, stability conditions to solve formation consensus problem are developed for the underlying heterogeneous systems with communication link failures. In order to tolerate actuator/sensor faults, a distributed adaptive controller is proposed based on fault compensation. The desired control is designed by linear matrix inequality approach together with cone complementarity linearisation algorithm. After applying the new control scheme to heterogeneous systems under the directed topologies with link failures and faults, the resulting closed-loop heterogeneous system is validated to be stable. The effectiveness of the new formation consensus control strategy and its robustness are verified by simulations. 相似文献
3.
In this paper, the reliable control design is considered for networked control systems (NCSs) against probabilistic actuator fault with different failure rates, measurements distortion, random network-induced delay and packet dropout. A new distribution-based fault model is proposed, which also contains the probability distribution information of the random delay and packet dropout. By using Lyapunov functional and new technique in dealing with time delay, stability and stabilization criteria are derived in terms of linear matrix inequalities. The provided numerical example and vertical takeoff and landing (VTOL) aircraft system illustrate that: firstly, using the distribution information of the delay, the maximum effective delay bound (MEDB) can be greatly improved, secondly, the proposed reliable controller can stabilize the NCSs with probabilistic actuator fault and measurements distortion, which may be unstable under the controller designed without considering the unreliable cases. 相似文献
4.
The H∞ control problem is investigated in this paper for a class of networked control systems (NCS) with time-varying delay and packet disordering. A new model is proposed to describe the packet disordering phenomenon and then converted into a parameter-uncertain system with multi-step delay. Based on the obtained system model, a sufficient condition for robust stability of the NCS is derived. Furthermore, an optimization problem with linear matrix inequalities (LMIs) constraints is formulated to design the state feedback H∞ controller such that the closed-loop NCS is robust stable and has an optimal H∞ disturbance attenuation level. Finally, two illustrative examples are given to demonstrate the effectiveness of the proposed method. 相似文献
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《Journal of The Franklin Institute》2019,356(13):7112-7143
This paper addresses the problem of robust integrated fault estimation (FE) and fault-tolerant control (FTC) for a class of discrete-time networked Takagi–Sugeno (T–S) fuzzy systems with two-channel event-triggered schemes, input quantization and incomplete measurements. The incomplete information under consideration includes randomly occurring sensor saturation and randomly occurring quantization. In order to save the limited networked resources, this paper firstly proposed a novel dynamic event-triggered scheme on the sensor side and a static one on the controller side. Secondly, an event-triggered FE observer for the T–S fuzzy model is designed to estimate actuator faults and system states, simultaneously. Then, a specified discrete sliding surface in the state-estimation space is constructed. By using time-delay analysis technique and considering the effects of event-triggered scheme, quantization, networked conditions, actuator fault and external disturbance, the sliding mode dynamics and error dynamics are unified into a new networked time-delay model. Based on this model, sufficient conditions are established such that the resulting augmented fuzzy system is stochastically stable with a prescribed H∞ performance level with a single-step linear matrix inequality (LMI) formulation. Furthermore, an observer-based sliding mode controller for reaching motion is synthesized to guarantee the reachability of the sliding surface. Finally, a single-link flexible manipulator example is present to illustrate the effectiveness of the proposed method. 相似文献
7.
《Journal of The Franklin Institute》2022,359(4):1582-1611
This article considers the nonlinear time-delay system with full-state constrains and actuator hysteresis. Compared with the previous research on input hysteresis phenomenon, all states in the system are required to be constrained in a bounded compact set and the direction of hysteresis is unknown. Thus, the system is difficult to be stabilized and get perfect error tracking performance, and the design procedure is more complicated. By combining barrier Lyapunov functions (BLFs) and Nussbaum functions, a new virtual controller is designed, which combines the properties of Nussbaum function with fuzzy logic systems (FLSs). Furthermore, considering that the rate-dependent characteristic of actuator hysteresis will adversely affect the stability of networked control systems (NCSs), a first-order filter is used to solve the problem, but it brings challenges to the design of Lyapunov–Krasovskii functions (KLFs). Thus, a new LKFs is constructed to compensate for the adverse effects of state delay on the nonlinear system. What’s more, this article propose event-triggered technique to solve the coupling effect of the system communication resource constrains. The proposed adaptive control strategy ensures the boundedness of all signals and does not violate the state constraints, and the controller avoids Zeno behavior, and the tracking error fluctuates around zero in a predetermined compression range. Finally, two simulations results verify the effectiveness of the adaptive control strategy. 相似文献
8.
The paper is concerned with the modeling and stabilization problem of networked control systems under simultaneous consideration of bounded packet dropouts and occasionally missing control inputs. In particular, the focus of the paper is to capture the case where the packet dropouts and control inputs missing are subject to multiple sampling periods, and not periodic as in existing results. By input-delay approach and then fully considering the probability distribution characteristic of packet dropouts in the modeling, the original linear system is firstly transformed to a switched stochastic time-delay system. Meanwhile, the probability distribution values of stochastic delay taking values in m(m ≥ 2) given intervals can be explicitly obtained, which is of vital importance to analyse the stabilization problem of considered system. Secondly, by means of the average dwell time technique, some sufficient conditions in terms of linear matrix inequalities for the existence of desired stabilizing controller are derived. Finally, an illustrative example is given to illustrate the effectiveness of the proposed stabilizing controller and some less conservative results are obtained. 相似文献
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This paper investigates the controller design problem of cyber-physical systems (CPSs) to ensure the reliability and security when actuator faults in physical layers and attacks in cyber layers occur simultaneously. The actuator faults are time-varying, which cover bias fault, outage, loss of effectiveness and stuck. Besides that, some state-dependent cyber attacks are launched in control input commands and system measurement data channels, which may lead state information to the opposite direction. A novel co-design controller scheme is constructed by adopting a new Lyapunov function, Nussbaum-type function, and direct adaptive technique, which may further relax the requirements of actuator/sensor attacks information. It is proven that the states of the closed-loop system asymptotically converge to zero even if actuator faults, actuator attacks and sensor attack are time-varying and co-existing. Finally, simulation results are presented to show the effectiveness of the proposed control method. 相似文献
10.
Wenjie Si 《Journal of The Franklin Institute》2018,355(15):7098-7133
This paper proposes an adaptive observer-based neural controller for a class of uncertain large-scale stochastic nonlinear systems with actuator delay and time-delay nonlinear interactions, where drift and diffusion terms contain all state variables of their own subsystem. First, a state observer is established for estimating the unmeasured states, and a predictor-like term is utilized to transform the input delayed system into the delay-free system. Second, novel appropriate Lyapunov–Krasovskii functionals are used to compensate the time-delay terms, and neural networks are employed to approximate unknown nonlinear functions. At last, an output-feedback adaptive neural control scheme is constructed by using Lyapunov stability theory and backstepping technique. It is shown that the designed neural controller can ensure that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded (SGUUB) and the tracking error is driven to a small neighborhood of the origin. The simulation results are presented to further show the effectiveness of the proposed approach. 相似文献
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《Journal of The Franklin Institute》2023,360(4):2751-2768
This article studies adaptive prescribed performance tracking control problem for a class of strict-feedback nonlinear systems with parametric uncertainties and actuator failures. Firstly, in order to compensate the multiple uncertainties and eliminate the influence of actuator failure, a new adaptive tracking controller based on first-order filter technology will be proposed, which simplifies the algorithm design process. Then, by introducing an asymmetric state transition function, the transient and steady performances of the output tracking error are both constrained such that the predetermined performance control goal is achieved. Moreover, to reduce the communication burden from the controller to the actuator, the event-triggered mechanism is designed, and there will be no Zeno phenomenon. Based on Lyapunov stability theory, it is strictly proved that output signal can track the reference signal and all the signals of the closed-loop system are bounded. Finally, a simulation example is performed and the results demonstrate effectiveness of the proposed strategy. 相似文献
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《Journal of The Franklin Institute》2014,351(12):5250-5273
This paper presents a distributed event-based control approach to cope with communication delays and packet losses affecting a networked dynamical system. Two network protocols are proposed to deal with these communication effects. The stability of the system is analyzed for constant and time-dependent trigger functions, showing that asymptotic stability can be achieved with the latter design, and this also guarantees a lower bound for the inter-event times. Analytical expressions for the delay bound and the maximum number of consecutive packet losses are derived for different scenarios. Finally, the results are illustrated through a simulation example. 相似文献
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This paper is concerned with event-triggered cooperative control of a platoon of connected vehicles via vehicular ad hoc networks (VANETs). To reduce communications among vehicles, we introduce a hybrid event-triggered transmission mechanism based on both time elapsed and state error. The effect of time-varying transmission delay and communication energy constraint can be also taken into account in the system modeling and design procedures. The on-board sensors use different power levels to transmit information resulting in different packet loss rates. The vehicular platoon system is proved to be exponentially mean-square stable under the hybrid event-triggering scheme and a constant time headway spacing policy. A framework for co-design of the hybrid event triggering scheme and the output feedback controller is given to guarantee platoon stability and spacing-error convergence along the stream. Numerical simulations are given to demonstrate the effectiveness of proposed method. 相似文献
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《Journal of The Franklin Institute》2021,358(18):10052-10078
This paper is concerned with the fixed-time quasi-synchronization of coupled memristive neural networks (CMNNs). The communication channel is subject to the deception attack described by the Bernoulli stochastic variable. To reduce signal transmissions, a dual-channel event-triggered mechanism is proposed. In each channel of sensor to controller and controller to actuator, an event-triggered mechanism is designed. Compared with the single event-triggered mechanism in the communication loop, the main difficulties lie in how to deal with the problems of packet scheduling and network attacks. By using Lyapunov method combining with a new proposed lemma, some sufficient conditions are derived to guarantee the leader-following quasi-synchronization of CMNNs. The Zeno behavior is excluded for the designed dual-channel event-triggered mechanism. The influence of the event-triggered mechanism on the estimation of settling time is discussed. Three numerical examples are provided to show the effectiveness of the theoretical results. 相似文献
15.
A new solution of networked control systems with bandwidth constraints is proposed in this paper. First, at the smart sensor side, a new stochastic communication logic scheduling strategy is designed based on a Poisson Process with time-dependent intensity. Under this strategy, the system only needs a finite-time state update. Hence the quantity of transmission of message is reduced. With the proof that the stochastic communication logic is essentially a Markov chain, the NCS is modeled as a jump system and the necessary and sufficient condition of stability for the state feedback system is presented as well. With the proposed stochastic communication logic, based on the update time, the controller is given in terms of a LMI. The simulation result shows that the scheduling strategy can decrease the network traffic, while the controller can guarantee certain good system performance. 相似文献
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《Journal of The Franklin Institute》2022,359(3):1130-1151
This paper is concerned with the simultaneous exponential stabilization problem for a set of stochastic port-controlled Hamiltonian (PCH) systems. Due to the limited bandwidth of the channels, the phenomena of fading channels and transmission delays which are described by a time-varying stochastic model always occur in the communication channels from the controller to the actuator. Meanwhile, actuator saturation constraint is taken into account. On the basis of dissipative Hamiltonian structural and saturating actuator properties, those stochastic PCH systems are combined to generate an augmented system. By utilizing the stochastic analysis theory, sufficient criterions are given for the simultaneous stabilization controller design ensuring that the closed-loop system is simultaneously exponentially mean-square stable (SEMSS). For the case that there exist external disturbances in the systems, some results on stability analysis and controller design are given. The developed controller design scheme is proved by a three-helicopter model simulation example. 相似文献
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《Journal of The Franklin Institute》2019,356(17):10514-10531
This paper investigates the event-based tracking control for delta-sampling systems with a reference model. Takagi–Sugeno (T–S) fuzzy model is used to approximate the nonlinearity. The delta operator is used to implement the discrete-time system. The event trigger is adopted for saving the network resources and the controller forces, and its detection period is designed with the same period of the delta-sampling period. Since the measurement is delayed from the sensor to the event-trigger, the methodology of time-delay systems, called the scaled small gain theorem, is applied for the system stability analysis. The reference output tracking controller is designed to ensure the stability of the resulting system in H∞ sense. The optimization conditions of the desired H∞ event-based tracking controller are synthesized, and the simulation example validates its effectiveness finally. 相似文献
19.
In this paper, the state estimation problem for discrete-time networked systems with communication constraints and random packet dropouts is considered. The communication constraint is that, at each sampling instant, there is at most one of the various transmission nodes in the networked systems is allowed to access a shared communication channel, and then the received data are transmitted to a remote estimator to perform the estimation task. The channel accessing process of those transmission nodes is determined by a finite-state discrete-time Markov chain, and random packet dropouts in remote data transmission are modeled by a Bernoulli distributed white sequence. Using Bayes’ rule and some results developed in this study, two state estimation algorithms are proposed in the sense of minimum mean-square error. The first algorithm is optimal, which can exactly compute the minimum mean-square error estimate of system state. The second algorithm is a suboptimal algorithm obtained under a lot of Gaussian hypotheses. The proposed suboptimal algorithm is recursive and has time-independent complexity. Computer simulations are carried out to illustrate the performance of the proposed algorithms. 相似文献
20.
Yishi Liu Xiwang Dong Zhang Ren Jonathan Cooper 《Journal of The Franklin Institute》2019,356(7):3849-3868
In this paper, a constrained control scheme based on model reference adaptive control is investigated for the longitudinal motion of a commercial aircraft with actuator faults and saturation nonlinearities. Actuator faults and constraints are both important factors adversely affecting the stability and performance of flight control systems. An adaptive adjustment law based on Lyapunov function is utilized to adjust the fault-tolerant control law. Both additive and multiplicative faults are considered in the designed controller to deal with the three types of actuator faults: locked in place, loss of effectiveness, and bias. Moreover, different techniques are implemented in the basic and fault-tolerant controller to anti-windup. Proofs for the stability of the two modified controllers which improve the performance of control system operating in the presence of actuator faults and saturations are proposed. Finally, a numerical example of the anti-windup fault-tolerant controller for a commercial aircraft is demonstrated. The stability and performance improvements can be accrued with the presented fault-tolerant control scheme. 相似文献