Nonfragile asynchronous control for uncertain chaotic Lurie network systems with Bernoulli stochastic process

This paper proposes a novel nonfragile robust asynchronous control scheme for master‐slave uncertain chaotic Lurie network systems with randomly occurring time‐varying parameter uncertainties and controller gain fluctuation. The asynchronous phenomenon occurs between the system modes and the controller modes. In order to consider a more realistic situation in designing a reliable proportional‐derivative controller, Bernoulli stochastic process and memory feedback are introduced to the concept of nonlinear control system. First, by taking full advantage of the additional derivative state term and variable multiple integral terms, a newly augmented Lyapunov‐Krasovskii functional is constructed via an adjustable parameter. Second, based on new integral inequalities including almost all of the existing integral inequalities, which can produce more accurate bounds with more orthogonal polynomials considered, less conservative synchronization criteria are obtained. Third, a desired nonfragile estimator controller is achieved under the aforementioned methods. Finally, 4 numerical simulation examples of Chua's circuit and 3‐cell cellular neural network with multiscroll chaotic attractors are presented to illustrate the effectiveness and advantages of the proposed theoretical results.     

Integrated adaptive robust control for multilateral teleoperation systems under arbitrary time delays

With the increasing industrial requirements such as bigger size object, stable operation, and complex task, multilateral teleoperation systems extended from traditional bilateral teleoperation are widely developed. In this paper, the integrated control design is developed for multilateral teleoperation systems, where n master manipulators are operated by human to remotely control n slave manipulators cooperatively handling a target object. For the first time, the control objectives of multilateral teleoperation including stability, synchronization, transparency, and internal force distribution are clarified systematically. A novel communication architecture is proposed to cope with communication delays, where the estimated environmental parameters are transmitted from the slave side to the master, to replace the traditional environmental force measurement in the communication channel. A kind of nonlinear adaptive robust control technique is used to deal with nonlinearities, unknown parameters, and modeling uncertainties existing in the master, slave, and environmental dynamics, so that the excellent tracking performance is achieved in both master and slave sides. The coordinated motion/force control is designed in the slave side by the optimal internal force distribution among n slave manipulators, and the impedance control is designed in the master side to realize the target transparency behavior. In summary, the proposed control algorithm can achieve the guaranteed robust stability, the excellent synchronization and transparency performance, and the optimal internal force distribution simultaneously for multilateral teleoperation systems under arbitrary time delays and various modeling uncertainties. The simulation is carried out on a 2‐master/2‐slave teleoperation system, and the results show the effectiveness of the proposed control design. Copyright © 2015 John Wiley & Sons, Ltd.     

The suitability for master/slave concurrency of concurrent euclid,ada and modula

The suitability of Concurrent Euclid, Ada and Modula for a special form of asynchronous concurrency, called master/slave concurrency, is investigated. No language is ideal, with Concurrent Euclid and Modula having major drawbacks. The conclusion lists the features desirable in a language for master/slave concurrency.     

A two-tier control architecture for nonlinear process systems with continuous/asynchronous feedback

In this work, we introduce a two-tier control architecture for nonlinear process systems with both continuous and asynchronous sensing and actuation. This class of systems arises naturally in the context of process control systems based on hybrid communication networks (i.e. point-to-point wired links integrated with networked wired or wireless communication) and utilising multiple heterogeneous measurements (e.g. temperature and concentration). Assuming that there exists a lower-tier control system which relies on point-to-point communication and continuous measurements to stabilise the closed-loop system, we propose to use Lyapunov-based model predictive control to design an upper-tier networked control system to profit from both the continuous and the asynchronous measurements as well as from additional networked control actuators. The proposed two-tier control system architecture preserves the stability properties of the lower-tier controller while improving the closed-loop performance. The theoretical results are demonstrated using two different chemical process examples.     

Force Reflecting Bilateral Control of Master–Slave Systems in Teleoperation

In this paper, a simple structure design with arbitrary motion/force scaling to control teleoperation systems, with model mismatches is presented. The goal of this paper is to achieve transparency in presence of uncertainties. The master–slave systems are approximated by linear dynamic models with perturbed parameters, which is called the model mismatch. Moreover, the time delay in communication channel with uncertainties is considered. The stability analysis will be considered for two cases: (1) stability under time delay uncertainties and (2) stability under model mismatches. For the first case, two local controllers are designed. The first controller is responsible for tracking the master commands, while the second controller is in charge of force tracking as well as guaranteeing stability of the overall closed-loop system. In the second case, an additional term will be added to the control law to provide robustness to the closed-loop system. Moreover, in this case, the local slave controller guarantees the position tracking and the local master controller guarantees stability of the inner closed-loop system. The advantages of the proposed method are two folds: (1) robust stability of the system against model mismatches is guaranteed and (2) structured system uncertainties are well compensated by applying independent controllers to the master and the slave sites. Simulation results show good performance of the proposed method in motion tracking as well force tracking in presence of model mismatches and time delay uncertainties.     

A Composite State Convergence Scheme for Bilateral Teleoperation Systems

State convergence is a novel control algorithm for bilateral teleoperation of robotic systems. First, it models the teleoperation system on state space and considers all the possible interactions between the master and slave systems. Second, it presents an elegant design procedure which requires a set of equations to be solved in order to compute the control gains of the bilateral loop. These design conditions are obtained by turning the master-slave error into an autonomous system and imposing the desired dynamic behavior of the teleoperation system. Resultantly, the convergence of master and slave states is achieved in a well-defined manner. The present study aims at achieving a similar convergence behavior offered by state convergence controller while reducing the number of variables sent across the communication channel. The proposal suggests transmitting composite master and slave variables instead of full master and slave states while keeping the operator’s force channel intact. We show that, with these composite and force variables; it is indeed possible to achieve the convergence of states in a desired way by strictly following the method of state convergence. The proposal leads to a reduced complexity state convergence algorithm which is termed as composite state convergence controller. In order to validate the proposed scheme in the absence and presence of communication time delays, MATLAB simulations and semi-real time experiments are performed on a single degree-of-freedom teleoperation system.      

Absolute stability analysis of sampled-data scaled bilateral teleoperation systems

Stability of a bilateral teleoperation system may be jeopardized by controller discretization, which has been shown to involve energy leaks. This paper proposes a novel approach to analyzing the absolute stability of sampled-data bilateral teleoperation systems consisting of discrete-time controllers and continuous-time master, slave, operator, and environment. The proposed stability analysis permits scaling and delay in the master and the slave positions and forces. The absolute stability conditions reported here impose bounds on the gains of the discrete-time controller, the damping terms of the master and the slave, and the sampling time. A design-related application of these results is in proper selection of various control parameters and the sampling rate for stable teleoperation under discrete-time control. To explore the trade-off between the control gains and the sampling time, it is studied that how large sampling times, which require low control gains for maintaining stability, can lead to unacceptable teleoperation transparency and human task performance in a teleoperated switching task. This shows that the effect of sampling time must be taken into account because neglecting it (as in the absolute stability literature) undermines both stability and transparency of teleoperation. The resulting absolute stability condition has been verified via experiments with two Phantom Omni robots.     

Asynchronously switched control of switched linear systems with average dwell time

This paper concerns the asynchronously switched control problem for a class of switched linear systems with average dwell time (ADT) in both continuous-time and discrete-time contexts. The so-called asynchronous switching means that the switchings between the candidate controllers and system modes are asynchronous. By further allowing the Lyapunov-like function to increase during the running time of active subsystems, the extended stability results for switched systems with ADT in nonlinear setting are first derived. Then, the asynchronously switched stabilizing control problem for linear cases is solved. Given the increase scale and the decrease scale of the Lyapunov-like function and the maximal delay of asynchronous switching, the minimal ADT for admissible switching signals and the corresponding controller gains are obtained. A numerical example is given to show the validity and potential of the developed results.     

Robust stability analysis of networked systems with varying delays

This article is concerned with networked controlled systems (NCS) with uncertain, varying, bounded transmission delays and asynchronous discrete-time static control laws. It is first shown that the delay variation gives rise to a discrete-time uncertain NCS model; robust stability analysis is carried out via a linear matrix inequality approach which, when combined with a directed parameter search, yields an estimate of robust stability bounds against any variations of the maximum allowable delay (constrained within one sampling period) that the closed-loop system can tolerate. The derived bounds are compared with other techniques relying on the singular values of the perturbed NCS-model. The presented simulation results prove the efficacy of the proposed control scheme.     

Robust asynchronous bumpless transfer for switched linear systems

This study is concerned with the asynchronous bumpless transfer (ABT) problem for a class of switched linear systems with external disturbances. Asynchronous switching or transfer implies that the transfers between sub-controllers and between sub-plants are asynchronous, and ABT is to ensure that there is no controller/plant-induced bumps or undesirable transients to the process. Specifically, the ABT process is first divided into two parts: robust performance bumpless transfer (RPBT) between sub-plants and robust control bumpless transfer (RCBT) between sub-controllers. Then, with a set of pre-given sub-plants under disturbances and corresponding sub-controllers, the RPBT and RCBT design schemes are, respectively, proposed. The designed RPBT and RCBT compensators are based on model reference adaptive sliding mode control such that the switched system can perform smooth transitions during the whole asynchronous switching process. Furthermore, by using average dwell time technique, the condition for guaranteeing the switched closed-loop system to be stable under ABT is developed. Finally, numerical simulations demonstrate the effectiveness of the proposed method.     

A novel adaptive robust control architecture for bilateral teleoperation systems under time‐varying delays

Bilateral teleoperation technology has caused wide attentions due to its applications in various remote operation systems. The communication delay becomes one of the main challenging issues in the teleoperation control design. Meanwhile, various nonlinearities, parameter variations, and modeling uncertainties existing in manipulator and environment dynamics need to be considered carefully in order to achieve good control performance. In this paper, a globally stable nonlinear adaptive robust control algorithm is developed for bilateral teleoperation systems to deal with these control issues. Namely, the unknown dynamical parameters of the environmental force are estimated online by the improved least square adaptation law. A novel communication structure is proposed where only the master position signal is transmitted to the slave side for the tracking design, and the online estimators of the environmental parameters are transmitted from the slave to the master to replace the traditional environmental force measurement. Because the estimated environmental parameters are not power signals, the passivity problem of the communication channel and the trade‐off limitation between the transparency performance and robust stability in traditional teleoperation control are essentially avoided. The nonlinear adaptive robust control is subsequently developed to deal with nonlinearities, unknown parameters, and modeling uncertainties of the master, slave, and environmental dynamics, so that the guaranteed transient and steady‐state transparency performance can be achieved. The experiments on two voice‐coil motor‐driven manipulators are carried out, and the comparative results verify that the proposed control algorithm achieves the excellent control performance and the guaranteed robust stability simultaneously under time delays. Copyright © 2014 John Wiley & Sons, Ltd.     

Optimal fault-tolerant control for Markov jump power systems with asynchronous actuator faults

Communication problems in the sensor-to-controller and controller-to-actuator channels can cause both the controller and actuator to run asynchronously with the original system in different operating modes. This paper investigates an optimal fault-tolerant control approach for Markov jump power systems (MJPSs) with asynchronous controller and actuator. Firstly, an asynchronous controller is proposed to deal with incomplete information (i.e., system modes) transmission in the sensor-to-controller channel. Secondly, a new asynchronous actuator faults model is constructed to simultaneously represent the two partial losses, of modes information in the controller-to-actuator channel, and of control effectiveness (LoCE) caused by actuator faults. Under this framework, two related hidden Markov models (HMMs) are formed, which reveal that both the controller and actuator are asynchronous with the controlled system in different modes. By using Lyapunov and optimal approaches, sufficient conditions are derived to ensure that MJPSs are mean square stable with an optimal guaranteed cost. Finally, Monte Carlo simulations are used to verify the effectiveness of the proposed control method.     

A multi-swarm optimizer based fuzzy modeling approach for dynamic systems processing

Inspired by the phenomenon of symbiosis in natural ecosystems a multi-swarm cooperative particle swarm optimizer (MCPSO) is proposed as a new fuzzy modeling strategy for identification and control of non-linear dynamical systems. In MCPSO, the population consists of one master swarm and several slave swarms. The slave swarms execute particle swarm optimization (PSO) or its variants independently to maintain the diversity of particles, while the particles in the master swarm enhance themselves based on their own knowledge and also the knowledge of the particles in the slave swarms. With four benchmark functions, MCPSO is proved to have better performance than PSO and its variants. MCPSO is then used to automatically design the fuzzy identifier and fuzzy controller for non-linear dynamical systems. The proposed algorithm (MCPSO) is shown to outperform PSO and some other methods in identifying and controlling dynamical systems.     

Control schemes for passive teleoperation systems over wide area communication networks with time varying delay

In this paper,the problem of time varying telecommunication delays in passive teleoperation systems is addressed.The design comprises delayed position,velocity and position-velocity signals with the local position and velocity signals of the master and slave manipulators.Nonlinear adaptive control terms are employed locally to cope with uncertain parameters associated with the gravity loading vector of the master and slave manipulators.Lyapunov-Krasovskii function is employed for three methods to establish asymptotic tracking property of the closed loop teleoperation systems.The stability analysis is derived for both symmetrical and unsymmetrical time varying delays in the forward and backward communication channel that connects the local and remote sites.Finally,evaluation results are presented to illustrate the efectiveness of the proposed design for real-time applications.     

Distributed event-triggered consensus for multi-agent systems with quantisation

This paper studies the consensus problem for multi-agent systems with quantised information communication via event-triggered control. First, the asynchronous event-triggered control for multi-agent systems is considered based on distributed uniform-quantised protocols. It is shown that practical consensus among agents is guaranteed and occurrence of Zeno behaviour is prevented under the designed event-triggering mechanisms. Second, under the proposed protocols using logarithmic quantised information, both synchronous and asynchronous event-triggered control algorithms are given to solve the practical consensus problem. Meanwhile, Zeno behaviour of the closed-loop systems can be excluded under the proposed event-triggered algorithms. Finally, numerical simulations are given to illustrate the effectiveness of the derived results.     

异步环境中基于时钟精度差的时钟同步

在异步通信模型的基础上，提出了一个基于时钟精度差的时钟同步策略，并给出了一个完整的系统模型，研究的重点有3个方面：（1）在时钟同步过程中使用单向信息传输策略，可以有效地减少网络负载；（2）客户机使用本地节点的时间信息和来自于参考时钟的时间戳信息构造一个线性数学模型，并获得本地时钟与参考时钟的运行精度差；（3）根据本地节点计算出的时钟精度差，构造一个自适应的容错模型，能够保证当本地节点与参考节点的连接出现故障时，本地的时钟同步系统还能够正常工作。该文不仅给出了一个详细的数学模型，而且还在实际的Internet环境中进行了模拟试验，取得了满意的结论。     

基于写操作集的数据库同步复制模型

现有数据库管理系统(DBMS)大多采用主从模式的异步复制机制,而主从模式中主节点失效将导致整个系统瘫痪,并且异步复制中潜在的同步延迟可能造成数据丢失。针对该问题,根据组通信同步复制机制,提出一种基于写操作集的数据库多主同步复制模型,能解决异步复制带来的延迟问题,并提高分布式DBMS系统的容错性和可扩展性。     

Control discrete-time switched singular systems with state delays under asynchronous switching

This article is concerned with the problem of state feedback control for a class of discrete-time switched singular systems with time-varying state delays under asynchronous switching. The asynchronous switching considered here means that the switching instants of the candidate controllers lag behind those of the system modes. The concept of mismatched control rate is introduced. By using the multiple Lyapunov function approach and the average dwell time technique, a sufficient condition for the existence a stabilising switching law is first derived to guarantee the regularity, causality and exponential stability of the closed-loop system in the presence of asynchronous switching. The stabilising switching law is characterised by a upper bound on the mismatched control rate and a lower bound on the average dwell time. Then, the corresponding solvability condition for a set of mode-dependent state feedback controllers is established by using the linear matrix inequality (LMI) technique. Finally, a numerical example is provided to illustrate the effectiveness of the proposed method.     

WuSH—86分布式操作系统中的几个问题

本文主要论述了一个面向科学计算,支撑“异步并行算法”解题的分布式操作系统中的某些基本问题.采用一种拟层次结构的对称形式、无主从关系.对并发进程的派生调度、进程间的通信和同步、共享资源的互斥等方面的问题,提出了一些新的有效方法,致使并行解题加速效率最高达0.87.     

Synchronisation of linear high-order multi-agent systems via event-triggered control with limited communication

In this paper, the synchronisation problems of multi-agent systems with asynchronous and synchronous event-triggered control under a novel event-triggered condition are solved. Our event-triggered control protocols only require each agent to send its state information to its neighbouring agents when an event-triggered condition is satisfied. Such control protocols substantially reduce the cost of communication. It is worth mentioning that the proposed protocols also ensure that the synchronisation of the multi-agent system with asynchronous and synchronous event-triggered can be achieved asymptotically without Zeno-behaviour. Meanwhile, an ultimate synchronisation trajectory is given. Moreover, our results are applied to solve the formation control problem. Some numerical simulations are presented to illustrate the effectiveness of our protocols.