Semi-global leader-following coordination of multi-agent systems with input saturation and aperiodic intermittent communications     

Zhipeng Fan  Housheng Su  Shiming Chen  Minghui Yu  Jie Ma 《Journal of The Franklin Institute》2019,356(2):1051-1066

This paper addresses the semi-global leader-following coordination problem of general linear multi-agent systems, in which the control input of each agent is steered by aperiodically intermittent saturated actuator. Both the case with only one virtual leader and the case with multiple virtual leaders are discussed. By using multiple Lyapunov stability theory and applying algebraic Riccati equation-based low-gain feedback technique, sufficient conditions guaranteeing semi-global consensus tracking and semi-global containment tracking are provided. Numerical simulations finally verify the theoretical analysis.  相似文献   

Adaptive synchronization of coupled harmonic oscillators under switching topology     

Chengjie Xu  Yulin Zhao  Bin Qin  Hong Zhang 《Journal of The Franklin Institute》2019,356(2):1067-1087

This paper investigates the adaptive synchronization for coupled harmonic oscillators with switching topology. Edge-based adaptive control protocols are proposed for both leaderless and leader-following synchronization for coupled harmonic oscillators with switching topology. Using Lyapunov stability theory, by parting the topology graph into connected components (containing at least two connected vertices) and isolated vertex components (containing a isolated vertex), full distributed adaptive synchronization conditions are obtained, which can guarantee that the synchronization conditions do not require any global information except a mild connection assumption. Finally numerical simulations are presented to illustrate the theoretical findings.  相似文献   

Network-based control of nonlinear large-scale systems composed of identical subsystems     

Branislav Rehák  Volodymyr Lynnyk 《Journal of The Franklin Institute》2019,356(2):1088-1112

This paper deals with a control of coupled nonlinear identical systems that admit full exact feedback input-output linearization. The subsystems are linearized using this nonlinear transformation. In the next step, an auxiliary low-dimensional system is derived whose stability implies stability of the original large-scale system. The control law is designed so that the control loops are only local, no information exchange between subsystems is required. Unknown time delay in the feedback are allowed. Two cases are studied: equal time delay for all subsystems or different delay in all subsystems. Results are illustrated by two examples.  相似文献   

A cyclic pursuit framework for networked mobile agents based on vector field approach     

Hamed Rezaee  Farzaneh Abdollahi 《Journal of The Franklin Institute》2019,356(2):1113-1130

This paper proposes a pursuit formation control scheme for a network of double-integrator mobile agents based on a vector field approach. In a leaderless architecture, each agent pursues another one via a cyclic topology to achieve a regular polygon formation. On the other hand, the agents are exposed to a rotational vector field such that they rotate around the vector field centroid, while they keep the regular polygon formation. The main problem of existing approaches in the literature for cyclic pursuit of double-integrator multiagent systems is that under those approaches, the swarm angular velocity and centroid are not controllable based on missions and agents capabilities. However, by employing the proposed vector field approach in this paper, while keeping a regular polygon formation, the swarm angular velocity and centroid can be determined arbitrary. The obtained results can be extended to achieve elliptical formations with cyclic pursuit as well. Simulation results for a team of eight mobile agents verify the accuracy of the proposed control scheme.  相似文献   

Output regulation for a class of positive switched systems     

Peng Wang  Dan Ma  Jun Zhao 《Journal of The Franklin Institute》2019,356(8):4513-4529

In this paper, a complete procedure for the study of the output regulation problem is established for a class of positive switched systems utilizing a multiple linear copositive Lyapunov functions scheme. The feature of the developed approach is that each subsystem is not required to has a solution to the problem. Moreover, two types of controllers and switching laws are devised. The first one depends on the state together with the external input and the other depends only the error. The conditions ensuring the solvability of the problem for positive switched systems are presented in the form of linear matrix equations plus linear inequalities under some mild constraints. Two examples are finally given to show the performance of the proposed control strategy.  相似文献   

Integrated guidance and control with partial state constraints and actuator faults     

Wangkui Liu  Yiyin Wei  Mingzhe Hou  Guangren Duan 《Journal of The Franklin Institute》2019,356(9):4785-4810

In this paper, a novel adaptive integrated guidance and control (IGC) scheme is proposed for skid-to-turn (STT) missile with partial state constraints and actuator faults. Considering the strict-feedback form of the IGC model, the dynamic surface control (DSC) approach is adopted to design the IGC scheme. To prevent the attack angle, sideslip angle and velocity deflection angle from violating the constraints, the barrier Lyapunov function (BLF) and modified saturation function are employed in the IGC design procedure. Moreover, an auxiliary system is constructed to remove the adverse effects that caused by the modified saturation function. The adaptive laws are constructed to estimate the actuation effectiveness of actuators and the upper bounds of lumped uncertainties in the IGC model. It is theoretically shown that all signals in the closed-loop system are bounded while the state constraints are not violated in presence of actuator faults and uncertainties. Numerical simulation results are presented to verify the effectiveness and robustness of the proposed IGC scheme.  相似文献   

Spacecraft output feedback attitude control based on extended state observer and adaptive dynamic programming   总被引：1，自引：0，他引：1  

Li-Gang Gong  Qing Wang  Chao-Yang Dong 《Journal of The Franklin Institute》2019,356(10):4971-5000

This paper investigates spacecraft output feedback attitude control problem based on extended state observer (ESO) and adaptive dynamic programming (ADP) approach. For the plant described by the unit quaternion, an ESO is first presented in view of the property of the attitude motion, and the norm constraint on the unit quaternion can be satisfied theoretically. The practical convergence proof of the developed ESO is illustrated by change of coordinates. Then, the controller is designed with an involvement of two parts: the basic part and the supplementary part. For the basic part, a proportional-derivative control law is designed. For the supplementary part, an ADP method called action-dependent heuristic dynamic programming (ADHDP) is adopted, which provides a supplementary control action according to the differences between the actual and the desired system signals. Simulation studies validate the effectiveness of the proposed scheme.  相似文献   

Neural dynamic sliding mode control of nonlinear systems with both matched and mismatched uncertainties     

Ali Karami-Mollaee  Hamed Tirandaz  Oscar Barambones 《Journal of The Franklin Institute》2019,356(8):4577-4600

Mismatched uncertainty and chattering appear as two challenges in sliding mode control. To overcome the problem of mismatched uncertainty, multiple sliding surfaces with virtual inputs are proposed. Accordingly, we have proposed two new methods based on designed neural observer: sliding mode control (SMC) and dynamic sliding mode control (DSMC) methods. Although, the proposed SMC can significantly cope with the mismatched uncertainties, but it suffers from chattering phenomenon. The chattering problem can be removed in DSMC, because an integrator is placed before the system. This results in increased number of the system states. This new state can be identified with the proposed neural observer. Note that in both proposed approaches, the robust performance (invariance property) of system is reserved, even in the presence of mismatch uncertainties. Then, to have a valid comparison the proposed DSMC is also designed using loop transfer recovery observer (LTRO). This comparison shows the good performance of the DSMC based neural networks. Moreover, the upper bound of uncertainties is not used in SMC and DSMC controllers and also in the neural observer and LTRO, which is important in practical implementation. Finally, comparing the equations, one can see the simplicity of DSMC in concept and also in realization.  相似文献   

New modeling approach of secondary control layer for autonomous single-phase microgrids     

Ahmed Bendib  Aissa Chouder  Kamel Kara  Abdelhammid Kherbachi  Said Barkat  Walid Issa 《Journal of The Franklin Institute》2019,356(13):6842-6874

In a microgrid (MG) topology, the secondary control is introduced to compensate for the voltage amplitude and frequency deviations, mainly caused by the inherent characteristics of the droop control strategy. This paper proposes an accurate approach to derive small signal models of the frequency and amplitude voltage at the point of common coupling (PCC) of a single-phase MG by analyzing the dynamics of the second-order generalized integrator-based frequency-locked loop (SOGI-FLL). The frequency estimate model is then introduced in the frequency restoration control loop, while the derived model of the amplitude estimate is introduced for the voltage restoration loop. Based on the obtained models, the MG stability analysis and proposed controllers’ parameters tuning are carried out. Also, this study includes the modeling and design of the synchronization control loop that enables a seamless transition from island mode to grid-connected mode operation. Simulation and practical experiments of a hierarchical control scheme, including traditional droop control and the proposed secondary control for two single-phase parallel inverters, are implemented to confirm the effectiveness and the robustness of the proposal under different operating conditions. The obtained results validate the proposed modeling approach to provide the expected transient response and disturbance rejection in the MG.  相似文献   

Parallel access by butterfly networks for any degree permutation polynomial and ARP interleavers     

Lucian Trifina  Daniela Tarniceriu 《Journal of The Franklin Institute》2019,356(5):3139-3168

Using more processors for parallel turbo decoding is an important issue to speed up the processing at the receiver of a communication system. Butterfly networks used to map the addresses of extrinsic values represent an elegant and simple solution in parallel turbo decoding. Recently, it has been shown that quadratic permutation polynomial (QPP) interleavers allow an easy way to compute the control bits for a butterfly network. In this paper we show that not only QPP interleavers, but any degree permutation polynomial (PP) interleavers and almost regular permutation (ARP) interleavers also allow the same easy way to compute the control bits required in butterfly networks. As a consequence, it is useful to apply the butterfly networks in parallel turbo decoding when using these performant algebraic interleavers.  相似文献