共查询到20条相似文献，搜索用时 15 毫秒
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In this paper, the event-triggered adaptive control for a class of nonlinear systems in Brunovsky form is considered. The sensors are event-triggered thus the states are transmitted only at the discrete triggering points, which are more efficient in using communication bandwidth. To solve this problem, we design a set of event-triggered conditions and based on which the controller and parameter estimator are designed without the ISS assumption. It is shown that the proposed control schemes guarantee that all the closed-loop signals are semi-globally bounded and the stabilization error converges to the origin asymptotically. The Zeno behavior is also excluded. Simulation results illustrate the effectiveness of our scheme. 相似文献
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In this paper, the surrounding control problem of a group of non-identical agents is considered, where a team of followers achieves an equidistant distributed formation to surround a team of moving leaders. An adaptive design method is presented for multi-agent systems where the dynamics of agents are supposed to be nonlinear with unknown parameters. First, an estimator for the center of the leaders is introduced. Then, two distributed adaptive controllers based on the estimated center are proposed for each follower. The stability and parameter convergence of the proposed protocols are shown by using algebraic graph theory and Lyapunov theory. Finally, a numerical example is provided to validate the theoretical results. 相似文献
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In this article, the event-triggered consensus control is investigated for general linear multi-agent systems with external disturbances, by using the accessible measurement outputs. In particular, a novel protocol is proposed using the local observed state variables at event-triggered instants, which are respectively derived by adopting an observer to each agent based on output signal. Then it is proved that under the designed event-triggered control protocol consensus can be achieved with the desired disturbance attenuation ability and no Zeno behavior occurs. A numerical simulation is given to demonstrate the effectiveness of the developed control strategy 相似文献
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This paper is concerned with the adaptive bipartite output consensus tracking problem of high-order nonlinear coopetition multi-agent systems with input saturation under a signed directed graph. A distributed fuzzy-based command filtered backstepping scheme is proposed, where the unknown nonlinear dynamics are approximated by the fuzzy logic system (FLS). The errors compensation mechanism is constructed to eliminate the errors caused by filters. Under the proposed control scheme, we only need to design one adaptive law for each agent, and it is proved that the bipartite output tracking errors converge into the desired neighborhood and all the closed-loop signals are bounded although the input saturation exists. Two numerical examples are included to verify the effectiveness of given scheme. 相似文献
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We are concerned with the cooperative preview tracking problem of discrete-time linear multi-agent systems under the fixed directed acyclic communication topology. First, by introducing a preview-information-based auxiliary system and a type of distributed internal model, we establish an augmented system for each follower and formulate the cooperative preview tracking problem as a distributed output regulation (DOR) problem. Then, from the solvability of the DOR problem and the stabilizability of the augmented system, we present the sufficient conditions that guarantee the achievement of the cooperative tracking consensus. With this procedure, we finally propose a distributed dynamic feedback control law for the original problem with virtual regulated output integral and preview feedforward compensation. 相似文献
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This paper addresses model predictive control schemes for consensus in multi-agent systems (MASs) with discrete-time single-integrator dynamics under switching directed interaction graphs. The control horizon is extended to be greater than one which endows the closed-loop system with extra degree of freedom. We derive sufficient conditions on the sampling period and the interaction graph to achieve consensus by using the property of infinite products of stochastic matrices. Consensus can be achieved asymptotically if the sampling period is selected such that the interaction graph among agents has a directed spanning tree jointly. Significantly, if the interaction graph always has a spanning tree, one can select an arbitrary large sampling period to guarantee consensus. Finally, several simulations are conducted to illustrate the effectiveness of the theoretical results. 相似文献
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The state inequality constraints have been hardly considered in the literature on solving the nonlinear optimal control problem based the adaptive dynamic programming (ADP) method. In this paper, an actor-critic (AC) algorithm is developed to solve the optimal control problem with a discounted cost function for a class of state-constrained nonaffine nonlinear systems. To overcome the difficulties resulting from the inequality constraints and the nonaffine nonlinearities of the controlled systems, a novel transformation technique with redesigned slack functions and a pre-compensator method are introduced to convert the constrained optimal control problem into an unconstrained one for affine nonlinear systems. Then, based on the policy iteration (PI) algorithm, an online AC scheme is proposed to learn the nearly optimal control policy for the obtained affine nonlinear dynamics. Using the information of the nonlinear model, novel adaptive update laws are designed to guarantee the convergence of the neural network (NN) weights and the stability of the affine nonlinear dynamics without the requirement for the probing signal. Finally, the effectiveness of the proposed method is validated by simulation studies. 相似文献
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This paper is concerned with the event-triggered static output feedback control of networked control systems. The event-triggered mechanism is represented by a time-delay model and some latest techniques are employed to deal with the induced time-delay. Furthermore, a novel strategy is developed to eliminate the coupling among control gain, input matrix and output matrix. With these techniques, a new sufficient condition for system stability is established in the framework of linear matrix inequalities. The effectiveness of the proposed method is shown by two numerical examples. 相似文献
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This paper investigates the event-triggered decentralized adaptive tracking problem of a class of uncertain interconnected nonlinear systems with unexpected actuator failures. It is assumed that local control signals are transmitted to local actuators with time-varying faults whenever predefined conditions for triggering events are satisfied. Compared with the existing control-input-based event-triggering strategy for adaptive control of uncertain nonlinear systems, the aim of this paper is to propose a tracking-error-based event-triggering strategy in the decentralized adaptive fault-tolerant tracking framework. The proposed approach can relax drastic changes in control inputs caused by actuator faults in the existing triggering strategy. The stability of the proposed event-triggering control system is analyzed in the Lyapunov sense. Finally, simulation comparisons of the proposed and existing approaches are provided to show the effectiveness of the proposed theoretical result in the presence of actuator faults. 相似文献
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This paper proposes nonlinear control approaches to solve a leader-follower formation of multi-agent system with unknown nonlinear interactions. Two distributed sliding mode control approaches are suggested here to track a leader in a desired formation with compensating unknown nonlinear terms. The nonlinear interaction terms can appear in multi-agent systems due to physical connections or cooperation between agents. Also the uncertainty in coefficient of control input is considered. Super twist algorithm is suggested for investigating this problem. Some Lyapunov functions are modified and employed to prove maintaining the formation of group, using the proposed sliding mode controllers. A simulation result for slung load transporting with quad-rotors is presented to demonstrate the capability of the proposed approaches. 相似文献
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光动力学系统神经网络系统辨识及自适应控制之性能分析 总被引：2，自引：2，他引：0
分析了光动力学系统神经网络常规BP辨识与混沌加速BP辨识的异同,并对与二者相应的两种光动力学系统神经网络自适应控制技术的性能进行了比较。在此基础上,本文对光动力学系统神经网络自适应控制系统的设计原则进行了讨论。 相似文献
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This paper considers the distributed output-feedback consensus control problem for a multi-agent system with higher order linear dynamics and subject to external disturbance, under dynamically changing directed topologies and weighting factors. An extended state observer (ESO) is first designed to estimate not only the unmeasurable agent states but also the external disturbance. Based on the output of the ESO, a novel distributed control protocol is proposed. We show that, with the application of the proposed control protocol, the consensus can be achieved asymptotically by the group of agents if the union of the directed interaction graphs contains a spanning tree frequently enough. A numerical example is given to verify the effectiveness of the theoretical results. 相似文献
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定费用时可靠性的极大化问题研究 总被引：1，自引：0，他引：1
通过对费用和可靠性之间关系的分析，以确定的费用作为约束条件，以可靠性的极大值作为目标函数，建立了优化数学模型，结合实例，利用动态规划方法进行计算与分析，得到了满意的结果。 相似文献
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多Agent网络化制造系统 总被引：3，自引：0，他引：3
面对网络经济时代制造环境的变化,阐述了网络化制造模式的思想,并针对网络化制造的要求及多Agent系统(Multi-AgentSystem-MAS)体系结构的特点,介绍了一种基于多Agent的分布式网络化制造系统模式。 相似文献
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This paper investigates the problem of H∞ observer-based event-triggered sliding mode control (SMC) for a class of uncertain discrete-time Lipschitz nonlinear networked systems with quantizations occurring in both input and output channels. The event-triggered strategy is used to save the limited network bandwidth. Then, based on the zero-order-hold (ZOH) measurement, a state observer is designed to reconstruct the system state, which facilitates the design of the discrete-time sliding surface. Considering the effects of quantizations, networked-induced constraints and event-triggered scheme, the nonlinear state error dynamics and sliding mode dynamics are converted into a unified linear parameter varying (LPV) time-delay system with the aid of a reformulated Lipschitz property. By using the Lyapunov-Krasovskii functional and free weighting matrix, a new sufficient condition is derived to guarantee the robust asymptotic stability of the resulting closed-loop system with prescribed H∞ performance. And then the observer gain, event-triggering parameter and sliding mode parameter are co-designed. Furthermore, a novel SMC law is synthesized to force the trajectories of the observer system onto a pre-specified sliding mode region in a finite time. Finally, a single-link flexible joint robot example is utilized to demonstrate the effectiveness of the proposed method. 相似文献
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本文在论述了μＸＬ实时多任务处理技术的基础上,介绍了一种利用ＭＯＰＳ主板上的ＲＳ２３２口实现μＸＬ与ＰＣ机通信的方法。 相似文献