Static group synchronization of second-order multi-agent systems via pinning control     

Xiang-Gui Guo  Hong-Jian Li  Jun-Jie Zhao  Wei-Wei Che 《Journal of The Franklin Institute》2019,356(9):4842-4858

This paper investigates the expected static group synchronization problem of the second-order multi-agent systems via pinning control. For directed communication topology with spanning tree, based on Gershgorin disk theorem and the matrix property, a static pinning control protocol with fixed gains is first introduced and some sufficient and necessary static group synchronization criteria are also established. It is worth mentioning that a rigorous proof is also given that only one pinning node is needed to guarantee static group synchronization, which could be inferred that our protocol might be more economical and effective in large scale of multi-agent systems. Then, for weakly connected directed communication topology with nodes of zero in-degree, an adaptive pinning control applied to the node with zero in-degree is also proposed to achieve static group synchronization. Finally, the efficiency of the proposed protocols is verified by two simulation examples.  相似文献   

Distributed formation control for multiple quadrotor UAVs under Markovian switching topologies with partially unknown transition rates   总被引：1，自引：0，他引：1  

Zhen Zhou  Hongbin Wang  Yueling Wang  Xiaojun Xue  Mingquan Zhang 《Journal of The Franklin Institute》2019,356(11):5706-5728

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   

Fault-tolerant control for a class of linear interconnected hyperbolic systems by boundary feedback     

Yongyuan Xu  Hao Yang  Bin Jiang 《Journal of The Franklin Institute》2019,356(11):5630-5651

This paper considers a fault-tolerant control problem for a class of interconnected linear hyperbolic partial differential equation systems. Both subsystem faults and coupling faults are considered. Firstly, the well-posedness of the faulty system is analyzed by using semigroup theory. Secondly, for the fault-free case, a stabilizing boundary feedback control based on small-gain theorem is proposed. Consequently, in the presence of faults, fault recoverability conditions are established that maintain the stability of the faulty systems. The fault-tolerant control strategies are also provided. A heat exchanger example is taken to illustrate the effectiveness and practicality of the proposed methods.  相似文献   

A novel general type-2 fuzzy controller for fractional-order multi-agent systems under unknown time-varying topology     

Ardashir Mohammadzadeh  Okyay Kaynak 《Journal of The Franklin Institute》2019,356(10):5151-5171

In this paper, a robust adaptive control scheme is proposed for the leader following control of a class of fractional-order multi-agent systems (FMAS). The asymptotic stability is shown by a linear matrix inequality (LMI) approach. The nonlinear dynamics of the agents are assumed to be unknown. Moreover, the communication topology among the agents is assumed to be unknown and time-varying. A deep general type-2 fuzzy system (DGT2FS) using restricted Boltzmann machine (RMB) and contrastive divergence (CD) learning algorithm is proposed to estimate uncertainties. The simulation studies presented indicate that the proposed control method results in good performance under time-varying topology, unknown dynamics and external disturbances. The effectiveness of the proposed DGT2FS is verified also on modeling problems with high dimensional real-world data sets.  相似文献   

Data-driven optimal switching of switched systems     

Minggang Gan  Chi Zhang  Jingang Zhao 《Journal of The Franklin Institute》2019,356(10):5193-5221

Switched systems are complicated due to the switching among the subsystems. When the subsystem models are unknown, control problems on switched systems turn to be more intractable. In this paper, the optimal switching problems are investigated for continuous-time switched autonomous systems with unknown dynamics and a finite-horizon cost function. Firstly, a novel data-driven optimal scheduling approach is proposed based on the estimated insertion gradients. Secondly, aiming at switched systems with a prescribed switching sequence, a data-driven optimal switching time approach is proposed based on the estimated derivatives of the cost with respect to the switching times. The two approaches take advantages of plenty state data containing necessary information instead of the system models. Furthermore, the errors of the approaches are analysed and bounded. Finally, simulation results of two examples are given to show the validity of the two approaches.  相似文献   

Robust stabilization of uncertain 2-D discrete-time delayed systems using sliding mode control     

Imran Ghous  Zhaoxia Duan  Jahanzeb Akhtar  Muhammad Jawad 《Journal of The Franklin Institute》2019,356(16):9407-9431

This paper aims to solve the problem of sliding mode control for an uncertain two-dimensional (2-D) systems with states having time-varying delays. The uncertainties in the system dynamics are constituted of mismatched uncertain parameters and the unknown nonlinear bounded function. The proposed problem utilizes the model transformation approach. By segregating the proper Lyapunov–Krasovskii functional in concert with the improved version of Wirtinger-based summation inequality, sufficient solvability conditions for the existence of linear switching surfaces have been put forward, which ensure the asymptotical stability of the reduced-order equivalent sliding mode dynamics. Then, we solve the controller synthesis problem by extending the recently proposed reaching law to 2-D systems, whose proportional part is appropriately scaled by the factor that does not depend on some constant terms but rather on current switching surface’s value, which in turn ensures the faster convergence and better robustness against uncertainties. Finally, the proposed results have been validated through an implementation to a suitable physical system.  相似文献   

Linear output-feedback-based semi-global stabilization for switched nonlinear time-delay systems     

Zhenhua Li  Lijun Long  Jun Zhao 《Journal of The Franklin Institute》2019,356(13):7224-7245

This paper focuses on the problem of semi-global output-feedback stabilization for a class of switched nonlinear time-delay systems in strict-feedback form. A switched state observer is first constructed, then switched linear output-feedback controllers for individual subsystems are designed. By skillfully constructing multiple Lyapunov–Krasovskii functionals and successfully solving several troublesome obstacles, such as time-varying delay and switching signals and nonlinearity in the design procedure, the switched linear output-feedback controllers designed can render the resulting closed-loop switched system semi-globally stabilizable under a class of switching signals with average dwell time. Furthermore, under some milder conditions on nonlinearities, the semi-global output-feedback stabilization problem for switched nonlinear time-delay systems is also studied. Simulation studies on two examples, which include a continuous stirred tank reactor, are carried out to demonstrate the effectiveness of the proposed approach.  相似文献   

Destination buffer analysis for packets rejection obliteration in multi-channel networks     

P. Baziana  G. Fragkouli  E. Sykas 《Journal of The Franklin Institute》2019,356(15):8803-8828

In this paper we study a multi-channel network, each station of which is equipped with a network interface that has a receiver buffer of multiple packets. In this way, each station is able to receive multiple packets per time instant. We adopt a synchronous access protocol which is affected by the collisions over the multiple channels and the destination conflicts. The proposed protocol performance crucially depends on the size of the receiver buffer since it determines the packet rejection probability at destination. An analytical probabilistic model based on a Markovian process is adopted for the performance measures derivation by means of closed mathematical formulas. The proposed protocol is compared to relative ones that either totally ignore the receiver collisions or assume a receiver buffer of a single packet capacity. The numerical results show that the increase of the receiver buffer size improves the performance decisively, resulting in higher throughput and lower delay and rejection probability. Also, it is shown that the appropriate receiver buffer size per station in order for the rejections at destination to be effectively eliminated is not unlimited but is limited to three packets for 0.1% accepted maximum level of rejection probability.  相似文献   

RISE-based prescribed performance control of Euler–Lagrange systems     

Hamed Jabbari Asl  Tatsuo Narikiyo  Michihiro Kawanishi 《Journal of The Franklin Institute》2019,356(13):7144-7163

In this study, we addressed the problem of design of high-performance tracking controller for uncertain systems described by the Euler–Lagrange formulation. The main objective was to combine the advantages of the robust integral of the sign of the error (RISE) controller with those of the prescribed performance (PP) controller. In particular, we aimed to obtain asymptotic tracking for the uncertain systems through a continuous control command while ensuring the transient performance. Two controllers were developed. First, the PP property was injected into the RISE controller assuming no constraint on the actuation amplitude existed, and then this property was incorporated into the saturated RISE controller. The performance of the proposed controllers was validated through experimental and simulation tests.  相似文献   

Fixed-time outer synchronization of hybrid-coupled delayed complex networks via periodically semi-intermittent control     

Qintao Gan  Feng Xiao  Hui Sheng 《Journal of The Franklin Institute》2019,356(12):6656-6677

In this paper, the fixed-time synchronization between two delayed complex networks with hybrid couplings is investigated. The internal delay, transmission coupling delay and self-feedback coupling delay are all included in the network model. By introducing and proving a new and important differential equality, and utilizing periodically semi-intermittent control, some fixed-time synchronization criteria are derived in which the settling time function is bounded for any initial values. It is shown that the control rate, network size and node dimension heavily influence the estimating for the upper bound of the convergence time of synchronization state. Finally, numerical simulations are performed to show the feasibility and effectiveness of the control methodology by comparing with the corresponding finite-time synchronization problem.  相似文献