4,066 research outputs found
Distributed Control of Multi-agent Systems with Unknown Time-varying Gains: A Novel Indirect Framework for Prescribed Performance
In this paper, a new yet indirect performance guaranteed framework is
established to address the distributed tracking control problem for networked
uncertain nonlinear strict-feedback systems with unknown time-varying gains
under a directed interaction topology. The proposed framework involves two
steps: In the first one, a fully distributed robust filter is constructed to
estimate the desired trajectory for each agent with guaranteed observation
performance that allows the directions among the agents to be non-identical. In
the second one, by establishing a novel lemma regarding Nussbaum function, a
new adaptive control protocol is developed for each agent based on backstepping
technique, which not only steers the output to asymptotically track the
corresponding estimated signal with arbitrarily prescribed transient
performance, but also largely extends the scope of application since the
unknown control gains are allowed to be time-varying and even state-dependent.
In such an indirect way, the underlying problem is tackled with the output
tracking error converging into an arbitrarily pre-assigned residual set
exhibiting an arbitrarily pre-defined convergence rate. Besides, all the
internal signals are ensured to be semi-globally ultimately uniformly bounded
(SGUUB). Finally, simulation results are provided to illustrate the
effectiveness of the co-designed scheme
Adaptive Fuzzy Tracking Control with Global Prescribed-Time Prescribed Performance for Uncertain Strict-Feedback Nonlinear Systems
Adaptive fuzzy control strategies are established to achieve global
prescribed performance with prescribed-time convergence for strict-feedback
systems with mismatched uncertainties and unknown nonlinearities. Firstly, to
quantify the transient and steady performance constraints of the tracking
error, a class of prescribed-time prescribed performance functions are
designed, and a novel error transformation function is introduced to remove the
initial value constraints and solve the singularity problem in existing works.
Secondly, based on dynamic surface control methods, controllers with or without
approximating structures are established to guarantee that the tracking error
achieves prescribed transient performance and converges into a prescribed
bounded set within prescribed time. In particular, the settling time and
initial value of the prescribed performance function are completely independent
of initial conditions of the tracking error and system parameters, which
improves existing results. Moreover, with a novel Lyapunov-like energy
function, not only the differential explosion problem frequently occurring in
backstepping techniques is solved, but the drawback of the semi-global
boundedness of tracking error induced by dynamic surface control can be
overcome. The validity and effectiveness of the main results are verified by
numerical simulations on practical examples
Quantized control of non-Lipschitz nonlinear systems: a novel control framework with prescribed transient performance and lower design complexity
A novel control design framework is proposed for a class of non-Lipschitz
nonlinear systems with quantized states, meanwhile prescribed transient
performance and lower control design complexity could be guaranteed. Firstly,
different from all existing control methods for systems with state
quantization, global stability of strict-feedback nonlinear systems is achieved
without requiring the condition that the nonlinearities of the system model
satisfy global Lipschitz continuity. Secondly, a novel barrier function-free
prescribed performance control (BFPPC) method is proposed, which can guarantee
prescribed transient performance under quantized states. Thirdly, a new
\textit{W}-function-based control scheme is designed such that virtual control
signals are not required to be differentiated repeatedly and the controller
could be designed in a simple way, which guarantees global stability and lower
design complexity compared with traditional dynamic surface control (DSC).
Simulation results demonstrate the effectiveness of our method
Consensus Control for Leader-follower Multi-agent Systems under Prescribed Performance Guarantees
This paper addresses the problem of distributed control for leader-follower
multi-agent systems under prescribed performance guarantees. Leader-follower is
meant in the sense that a group of agents with external inputs are selected as
leaders in order to drive the group of followers in a way that the entire
system can achieve consensus within certain prescribed performance transient
bounds. Under the assumption of tree graphs, a distributed control law is
proposed when the decay rate of the performance functions is within a
sufficient bound. Then, two classes of tree graphs that can have additional
followers are investigated. Finally, several simulation examples are given to
illustrate the results.Comment: 8 page
Asymptotic Tracking Control of Uncertain MIMO Nonlinear Systems with Less Conservative Controllability Conditions
For uncertain multiple inputs multi-outputs (MIMO) nonlinear systems, it is
nontrivial to achieve asymptotic tracking, and most existing methods normally
demand certain controllability conditions that are rather restrictive or even
impractical if unexpected actuator faults are involved. In this note, we
present a method capable of achieving zero-error steady-state tracking with
less conservative (more practical) controllability condition. By incorporating
a novel Nussbaum gain technique and some positive integrable function into the
control design, we develop a robust adaptive asymptotic tracking control scheme
for the system with time-varying control gain being unknown its magnitude and
direction. By resorting to the existence of some feasible auxiliary matrix, the
current state-of-art controllability condition is further relaxed, which
enlarges the class of systems that can be considered in the proposed control
scheme. All the closed-loop signals are ensured to be globally ultimately
uniformly bounded. Moreover, such control methodology is further extended to
the case involving intermittent actuator faults, with application to robotic
systems. Finally, simulation studies are carried out to demonstrate the
effectiveness and flexibility of this method
A brief review of neural networks based learning and control and their applications for robots
As an imitation of the biological nervous systems, neural networks (NN), which are characterized with powerful learning ability, have been employed in a wide range of applications, such as control of complex nonlinear systems, optimization, system identification and patterns recognition etc. This article aims to bring a brief review of the state-of-art NN for the complex nonlinear systems. Recent progresses of NNs in both theoretical developments and practical applications are investigated and surveyed. Specifically, NN based robot learning and control applications were further reviewed, including NN based robot manipulator control, NN based human robot interaction and NN based behavior recognition and generation
Leader-following consensus for lower-triangular nonlinear multi-agent systems with unknown controller and measurement sensitivities
summary:In this paper, a novel consensus algorithm is presented to handle with the leader-following consensus problem for lower-triangular nonlinear MASs (multi-agent systems) with unknown controller and measurement sensitivities under a given undirected topology. As distinguished from the existing results, the proposed consensus algorithm can tolerate to a relative wide range of controller and measurement sensitivities. We present some important matrix inequalities, especially a class of matrix inequalities with multiplicative noises. Based on these results and a dual-domination gain method, the output consensus error with unknown measurement noises can be used to construct the compensator for each follower directly. Then, a new distributed output feedback control is designed to enable the MASs to reach consensus in the presence of large controller perturbations. In view of a Lyapunov function, sufficient conditions are presented to guarantee that the states of the leader and followers can achieve consensus asymptotically. In the end, the proposed consensus algorithm is tested and verified by an illustrative example
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