Formation control and collision avoidance for a class of multi-agent systems     

Yutong Liu  Hongjun Yu  Peng Shi  Cheng-Chew Lim 《Journal of The Franklin Institute》2019,356(10):5395-5420

In this paper, a control scheme is proposed for a group of elliptical agents to achieve a predefined formation. The agents are assumed to have the same dynamics, and communication among the agents are limited. The desired formation is realized based on the reference formation and the mapping decision. In the control design, searching algorithms for both cases of minimum distance and tangents are established for each agent and its neighbors. In order to avoid collision, an optimal path planning algorithm based on collision angles, and a self-center-based rotation algorithm are also proposed. Moreover, randomized method is used to provide the optimal mapping decision for the underlying system. Two examples and analyses are presented to demonstrate the effectiveness and potential of the new control scheme.  相似文献   

Finite-time synchronization of delayed complex dynamic networks via aperiodically intermittent control     

Taiyan Jing  Daoyuan Zhang  Jun Mei  Yuling Fan 《Journal of The Franklin Institute》2019,356(10):5464-5484

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   

H∞ tracking control for a class of asynchronous switched nonlinear systems with uncertain input delay     

S. Pezeshki  M.A. Badamchizadeh  A.R. Ghiasi  S. Ghaemi 《Journal of The Franklin Institute》2019,356(12):5927-5943

This paper studies the problems of stability and H∞ model reference tracking performance for a class of asynchronous switched nonlinear systems with uncertain input delay. First, it is assumed switched controller and corresponding piecewise Lyapunov function are unknown but the derivative of piecewise Lyapunov function has a condition; this condition implies that the nominal system (system without input delay and disturbance) is exponentially stable by any switched controller which satisfies this condition. With this assumption, a proper Lyapunov–Krasovskii functional is constructed. By employing this new functional and average dwell time technique, the delay-dependent input-to-state stability criteria are derived under a certain delay bound; in addition, a mechanism which finds the upper bound of input delay is proposed. Finally, a kind of state feedback control law which fulfils condition of aforesaid piecewise Lyapunov function is introduced to guarantee the input-to-state stability and H∞ model reference tracking performance. Simulation examples are presented to demonstrate the efficacy of results.  相似文献   

Optimal synchronization controller design for complex dynamical networks with unknown system dynamics     

Ya-Wei Cao  Guang-Hong Yang  Xiao-Jian Li 《Journal of The Franklin Institute》2019,356(12):6071-6086

In this paper, the optimal synchronization controller design problem for complex dynamical networks with unknown system internal dynamics is studied. A necessary and sufficient condition on the existence of the optimal control minimizing a quadratic performance index is given. The optimal control law consists of a feedback control and a compensated feedforward control, and the feedback control gain can be obtained by solving the well-known Algebraic Riccati Equation (ARE). Especially, in the presence of unknown system dynamics, a novel adaptive iterative algorithm using the information of system states and inputs is proposed to solve the ARE to get the optimal feedback control gain. Finally, a simulation example shows the effectiveness of the theoretical results.  相似文献   

Non-weighted H∞ performance for 2-D FMLSS switched system with maximum and minimum dwell time     

Dingli Hua  Weiqun Wang  Juan Yao  Yuanhong Ren 《Journal of The Franklin Institute》2019,356(11):5729-5753

This paper investigates the H_∞ performance of two-dimensional (2-D) switched system represented by Fornasini–Marchesini local state-space (FMLSS) model with maximum and minimum dwell time approach. By using the multiple Lyapunov function approach, and designing a set of switching signals subject to maximum and minimum dwell time characteristic, respectively, for all stable subsystems or both stable and unstable subsystems exist, we give the sufficient condition on exponential stability of the given switched system, and propose the sufficient condition which can guarantee that the given switched system is exponentially stable and has a specified H_∞ disturbance attenuation level γ. All the results obtained are on normal noise attenuation index of strictly non-weighted form, which are better than the existing results on weak one of weighted form from the physical point of view. Finally, numerical examples are presented to display the effectiveness of the proposed results.  相似文献   

Distributed fault diagnosis of networked dynamical systems with time-varying topology     

Chen Peng  Yanlin Zhou  Qing Hui 《Journal of The Franklin Institute》2019,356(11):5754-5780

In this paper, the distributed fault diagnosis (DFD) of networked dynamical systems with time-varying connected topologies, e.g., wireless sensor networks in harsh environments, is considered. Specifically, two essential problems are focused on, which are faced in extending the the decomposition-based adaptive DFD approach to such topology-varying systems. The problems introduced by the time-varying topologies are, respectively, decomposition schemes deterioration and pre-training difficulties. The causes of the two problems are detailed and addressed in our work. First, for the decomposition schemes deterioration problem, a multi-agent dynamics-based online distributed decomposition algorithm are developed, so that a decent decomposed network structure for such topology-varying network can be maintained. Second, to alleviate the pre-training difficulties in topology-varying systems, a fault detection method is proposed, which avoids the need for pre-training. The distributed decomposition algorithm is proved to converge in finite steps, and the proposed fault detection method is verified both theoretically and experimentally.  相似文献   

State and unknown input estimations for discrete-time switched linear systems with average dwell time     

Shenghui Guo  Bin Jiang  Fanglai Zhu  Qingbin Gao 《Journal of The Franklin Institute》2019,356(18):11741-11759

In this paper, the problem of state and unknown input estimations for a class of discrete-time switched linear systems with average dwell time switching is investigated. First, a proportional integral observer with an exponential H_∞ performance is constructed to estimate the system state and unknown input simultaneously. Second, both of the observability and the stability of the estimation error system are analyzed, then the derivation of the observer gain matrices is transformed into the calculation of linear matrix inequalities. Third, the obtained results are extended to the systems with output disturbances. Finally, two simulation examples are provided to show the validity and effectiveness of the proposed methods.  相似文献   

Extended-state-observer-based output feedback adaptive control of hydraulic system with continuous friction compensation     

Chengyang Luo  Jianyong Yao  Jason Gu 《Journal of The Franklin Institute》2019,356(15):8414-8437

This paper presents an extended state observer-based output feedback adaptive controller with a continuous LuGre friction compensation for a hydraulic servo control system. A continuous approximation of the LuGre friction model is employed, which preserves the main physical characteristics of the original model without increasing the complexity of the system stability analysis. By this way, continuous friction compensation is used to eliminate the majority of nonlinear dynamics in hydraulic servo system. Besides, with the development of a new parameter adaption law, the problems of parametric uncertainties are overcome so that more accurate friction compensation is realized. For another, the developed adaption law is driven by tracking errors and observation errors simultaneously. Thus, the burden of extended state observer to solve the remaining uncertainties is alleviated greatly and high gain feedback is avoided, which means better tracking performance and robustness are achieved. The designed controller handles not only matched uncertainties but also unmatched dynamics with requiring little system information, more importantly, it is based on output feedback method, in other words, the synthesized controller only relies on input signal and position output signal of the system, which greatly reduces the effects caused by signal pollution, measurement noise and other unexpected dynamics. Lyapunov-based analysis has proved this strategy presents a prescribed tracking transient performance and final tracking accuracy while obtaining asymptotic tracking performance in the presence of parametric uncertainties only. Finally, comparative experiments are conducted on a hydraulic servo platform to verify the high tracking performance of the proposed control strategy.  相似文献   

Input-output finite-time stability for networked control systems with memory event-triggered scheme     

Kunyu Wang  Engang Tian  Shibin Shen  Linnan Wei  Jinlong Zhang 《Journal of The Franklin Institute》2019,356(15):8507-8520

This paper has investigated the input-output finite time stability (IO-FTS) for a class of networked control systems (NCSs) with network-induced delay. To reduce the frequents of packets transmission, a novel memory event-triggered scheme (METS) has been proposed. Different from existing event-triggered schemes, the proposed METS can make use of certain released packets to generate new event. By this way, the event generator can do more precise decision and better control performance can be expected. By using a Lyapunov functional method, sufficient condition for the IO-FTS of NCSs has been derived. Then a co-design method is proposed to obtain the memory feedback gains and parameters of the METS. Finally, a simulation example is carried out and the effectiveness of the designed METS is validated. The IO-FTS of NCSs with solved memory feedback gains is also confirmed.  相似文献   

A structural property of the wavelet packet transform method to localise incoherency of a signal     

Manuel Schimmack  Paolo Mercorelli 《Journal of The Franklin Institute》2019,356(16):10123-10137

This paper proves a general structural property of the wavelet tree for a given seminorm in the context of the wavelet packet transform method. This structural property can be used in denoising algorithms of different applications to guarantee the optimality of novel search strategies. The property holds for any input signals using any orthogonal analysing wavelet families. The property holds for any norms, which results to be a convex function through the wavelet tree. Using a defined norms, seminorms or pseudonorms, this property can be used to detect incoherent parts of an input signal by using the minimal depth of the tree. In this sense the proposed denoising procedure works without thresholds for the localisation of different kinds of noise, as well as for a stop criterium for an optimal representation of the incoherency. The proof of this property is performed by mathematical induction and the demonstration is based on orthonormality with the help of the multiresolution framework aspects of the wavelets packet tree. The Theorem is independent of the definition of the adopted norm and of the incoherent part of an input signal. In this sense, the discovered property is a general one, which is related to any norm and any nature of the signal incoherence. It can be used in different applications, in which a minimum of a norm is required to be calculated through the wavelet tree.  相似文献