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1.
JITENDRA K. TUGNAIT 《International journal of control》2013,86(5):923-933
The asymptotic behaviour of Bayes optimal adaptive state estimation schemes (also called the partitioned adaptive estimation algorithms) for continuous-time linear dynamic Gauss-Markov systems with unknown parameters is investigated. The unknown system parameters are asssumed to belong to a finite set. The results are developed through, weak consistency of the maximum likelihood and the maximum a posteriori probability estimates of the unknown parameters. 相似文献
2.
针对无领航者多智能体系统(Multi-agent systems, MASs)以及领航-跟随多智能体系统执行器故障问题,设计基于PI结构的容错控制律.考虑到传统的比例型控制律无法消除加性干扰影响下的稳态误差,引入积分环节,在一致性控制律中融入状态的积分项,用于改善多智能体系统一致性过程的稳态性能.针对领航者输入不为零的情况,设计非线性的一致性控制律,并借助黎卡提方程以及Lyapunov函数,进行多智能体系统在故障情况下的一致性分析和控制律设计.最后,通过一系列对比仿真,说明了所设计控制律在改善系统稳态性能方面的优势. 相似文献
3.
Hongru Ren Hui Ma Hongyi Li Zhenyou Wang 《IEEE/CAA Journal of Automatica Sinica》2023,10(5):1252-1262
The adaptive fixed-time consensus problem for a class of nonlinear multi-agent systems(MASs) with actuator faults is considered in this paper. To approximate the unknown nonlinear functions in MASs, radial basis function neural networks are used. In addition, the first order sliding mode differentiator is utilized to solve the “explosion of complexity” problem,and a filter error compensation method is proposed to ensure the convergence of filter error in fixed time. With the help of the Nussbaum... 相似文献
4.
本 文 研 究 了 一 类 带 有 多 率 采 样 的 线 性 多 智 能 体 系 统(Multiagent Systems, MASs)在 拒 绝 服务(Denial-of-Service, DoS)攻击下的安全一致性控制问题, 其中DoS攻击通常阻断智能体之间的信息传输. 本文将多率采样在网络化控制系统中的结果推广到了多智能体系统, 并考虑了非理想通信网络环境. 首先, 通过引入一个匹配机制来同步由多率采样引起的智能体不同状态分量的采样数据. 然后, 在DoS攻击下, 针对带有多率采样的线性MAS提出了一个基于多率采样的安全一致性控制器. 通过使用李雅普诺夫稳定性理论和切换系统方法, 获得了包含DoS 攻击持续时间以及攻击频率的安全一致性充分条件. 最后, 给出了一个仿真例子来验证所提方法的有效性, 并给出了多率采样与单率采样机制的性能对比分析. 相似文献
5.
Jinliang Liu;Yipeng Liu;Lijuan Zha;Engang Tian;Xiangpeng Xie; 《国际强度与非线性控制杂志
》2024,34(15):10666-10682
》2024,34(15):10666-10682
In this article, the event-triggered data-driven consensus problem is studied for multi-agent systems (MASs) with switching topologies under denial-of-service (DoS) attacks. Based on the model-free adaptive control (MFAC) approach, the controller is only correlated with the input/output (I/O) data of agents instead of the specific system model. First, the pseudo partial derivative (PPD) is employed to dynamically linearize the system model. Second, to save network bandwidth, an event-triggered scheme is introduced according to the I/O measurement and the output estimated error. Third, an attack compensation mechanism is adopted for the purpose of reducing the influence of DoS attacks. Then, a data-driven controller is designed to make the agents approach the desired trajectory on the basis of the estimation value of PPD. Moreover, by utilizing the Lyapunov stability theory, the tracking error is demonstrated to be convergent and the reliability of the controller is investigated. Finally, an example is simulated to verify the effectiveness of the consensus tracking strategy. 相似文献
6.
In this paper, we consider a consensus tracking problem of a class of networked multi-agent systems (MASs) in non-affine pure-feedback form under a directed topology. A distributed adaptive tracking consensus control scheme is constructed recursively by the backstepping method, graph theory, neural networks (NNs) and the dynamic surface control (DSC) approach. The key advantage of the proposed control strategy is that, by the DSC technique, it avoids \"explosion of complexity\" problem along with the increase of the degree of individual agents and thus the computational burden of the scheme can be drastically reduced. Moreover, there is no requirement for prior knowledge about system parameters of individual agents and uncertain dynamics by employing NNs approximation technology. We then further show that, in theory, the designed control policy guarantees the consensus errors to be cooperatively semi-globally uniformly ultimately bounded (CSUUB). Finally, two examples are presented to validate the effectiveness of the proposed control strategy. 相似文献
7.
针对多智能体系统提出了一种分布式预测控制方法. 首先, 研究了有输入约束下的一致性问题. 其次, 对环境中有障碍物的多智能体轨迹规划进行了研究, 其中只有当障碍物进入智能体有限感知区域内时, 障碍物状态信息才能被获取. 基于预测控制方法, 设计了一种分布式控制算法来解决上面两个问题. 构造一个与每个智能体动力学相交互的代价函数, 设计相应最优控制问题, 从而实现优化控制算法. 智能体间交互信息是其邻居在上一时刻的最优控制状态. 系统稳定性可以通过构造代价函数中的一个终点状态控制器与最优控制问题中的一个终点状态区域来保证. 仿真研究表明所提方法的有效性. 相似文献
8.
This paper investigates the problem of distributed reliable H∞ consensus control for high‐order networked agent systems with actuator faults and switching undirected topologies. The Lipschitz nonlinearities, several types of actuator faults, and exogenous disturbances are considered in subsystems. Suppose the communication network of the multi‐agent systems may switch among finite connected graphs. By utilizing the relative state information of neighbors, a new distributed adaptive reliable consensus protocol is presented for actuator failure compensations in individual nodes. Note that the Lyapunov function for error systems may not decrease as the communication network is time‐varying; as a result, the existing distributed adaptive control technique cannot be applied directly. To overcome this difficulty, the topology‐based average dwell time approach is introduced to deal with switching jumps. By applying topology‐based average dwell time approach and Lyapunov theory, the distributed controller design condition is given in terms of LMIs. It is shown that the proposed scheme can guarantee that the reliable H∞ consensus problem is solvable in the presence actuator faults and external disturbance. Finally, two numerical examples are given the effectiveness of the proposed theoretical results. Copyright © 2015 John Wiley & Sons, Ltd. 相似文献
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10.
A new kind of group coordination control problemgroup hybrid coordination control is investigated in this paper.The group hybrid coordination control means that in a whole multi-agent system(MAS) that consists of two subgroups with communications between them,agents in the two subgroups achieve consensus and containment,respectively.For MASs with both time-delays and additive noises,two group control protocols are proposed to solve this problem for the containment-oriented case and consensus-ori... 相似文献
11.
This paper investigates the problem of adaptive dynamic surface control for pure‐feedback time‐varying state constrained nonaffine nonlinear system. A continuous and semibounded condition is proposed of nonaffine function to ensure that the system can be controlled, and the invariant set is introduced for this mild condition. By employing the dynamic surface control technique, the “complexity explosion” problem caused by backstepping technique is averted in developed control method. Robust compensators are devised to weaken poor effect of disturbances and uncertainties. The time‐varying barrier Lyapunov functions are adopted to dispose the problem of time‐varying state constrains. Moreover, it is proved that the whole closed‐loop signals are bounded, the tracking error can converge to a small neighborhood of zero, and the system states are insured to maintain in the predefined compact sets. Finally, some simulation results are provided to demonstrate the effectiveness of the proposed method. 相似文献
12.
The finite time adaptive filter control problem is studied for strict-feedback nonlinear systems with actuator faults and state constraints in this paper. First, with the aid of the backstepping technique, the controller and the adaptive laws are designed to compensate the actuator faults and parameter uncertainties. Then, the dynamic surface control is used to establish a first-order filter to alleviate computational burden for the reason of the derivative of virtual control laws. In addition, none of the system states violate predefined constraint boundaries by utilizing a log-type barrier Lyapunov function. Furthermore, the boundedness can be ensured for all the closed-loop signals, and better tracking performance of the system is obtained within a finite-time. Finally, the simulation examples are shown to prove the feasibility and effectiveness of the proposed strategy. 相似文献
13.
时变时滞系统的参数辨识及自适应控制 总被引：8，自引：0，他引：8
基于最小二乘法一类辨识算法的自适应控制,一般只适用于时滞已知且时不变的被控过程,本文提出了一种包括可估计时变时滞在内的参数辨识方法,该方法扩展了最小二乘一类辨识算法及相应的自适应控制的应用范围,文中通过一个实例讨论了该方法在自适应控制中的应用,并谈及下一步的研究工作。 相似文献
14.
This article focuses on the adaptive tracking control problem for a class of interconnected nonlinear stochastic systems under full‐state constraints based on the hybrid threshold strategy. Different from the existing works, we propose a novel pre‐constrained tracking control algorithm to deal with the full‐state constraint problem. First, a novel nonlinear transformation function and a new coordinate transformation are developed to constrain state variables, which can directly cope with asymmetric state constraints. Second, the hybrid threshold strategy is constructed to provide a reasonable way in balancing system performance and communication constraints. By the use of dynamic surface control technique and neural network approximate technique, a smooth pre‐constrained tracking controller with adaptive laws is designed for the interconnected nonlinear stochastic systems. Moreover, based on the Lyapunov stability theory, it is proved that all state variables are successfully pre‐constrained within asymmetric boundaries. Finally, a simulation example is presented to verify the effectiveness of proposed control algorithm. 相似文献
15.
Hongfei Wang;Hailiang Hou;Wenfeng Hu; 《国际强度与非线性控制杂志
》2024,34(15):10783-10798
》2024,34(15):10783-10798
The article investigates the leader-following consensus problem for second-order multi-agent systems (MASs) with guaranteed performance specifications. First, some event-triggered strategies are introduced for systems with and without disturbances, which can effectively reduce the frequency of controllers' update and no Zeno-behavior is occurred. Especially, the self-triggered strategy proposed for MASs without disturbances does not require continuous communication between agents. Second, based on Lyapunov theory, we have demonstrated that the proposed distributed controllers can achieve the predefined performance specifications of the system, that is, the position tracking error can meet the steady-state error accuracy requirements within an appointed time, while ensuring that the cumulative position difference (CPD) converges to the region specified by the performance function. Finally, the effectiveness of the theoretical results is demonstrated through simulation experiments. 相似文献
16.
Yanru Peng;Shengyuan Xu;Zhengqiang Zhang; 《国际强度与非线性控制杂志
》2024,34(2):996-1011
》2024,34(2):996-1011
This article addresses the problem of adaptive tracking control for stochastic nonlinear systems with asymmetric full state constraints. Different from the traditional log-type or tan-type barrier Lyapunov functions (BLFs), a new asymmetric BLF is proposed in this article. Then, a state feedback controller is constructed with backstepping method so that all signals of the closed-system are bounded and the asymmetric state constraint is well kept all the time. Without changing the structure of the controller, the design and the analysis for constrained and unconstrained systems are unified. Finally, the effectiveness of proposed control strategy has been demonstrated by simulations of numerical example and the single-link robot arm model. 相似文献
17.
In this paper, the problem of adaptive fuzzy tracking control for a class of uncertain switched nonlinear systems with unknown control direction is studied. Aiming at the problem, an adaptive control scheme with Nussbaum gain technology is constructed by using the average dwell time (ADT) method and the backstepping method to overcome the unknown control direction, and time-varying asymmetric barrier Lyapunov functions (ABLFs) are adopted to ensure the full-state constraints satisfaction. The proposed control scheme guarantees that all closed-loop signals remain bounded under a class of switching signals with ADT, while the output tracking error converges to a small neighborhood of the zero. An important innovation of this design method is that the unknown control direction, asymmetric time-varying full state constraints, and predefined time-varying output requirements are simultaneously considered in uncertain switched nonlinear systems for the first time. We set a moment in advance, and make the systems comply with the constraint conditions before running the moment by the shift function nested in the first time-varying ABLF. Finally, a simulation example verifies the effectiveness of the proposed scheme. 相似文献
18.
This paper focuses on an adaptive practical preassigned finite‐time control problem for a class of unknown pure‐feedback nonlinear systems with full state constraints. Two new concepts, called preassigned finite‐time function and practical preassigned finite‐time stability, are defined. In order to achieve the main result, the pure‐feedback system is first transformed into an affine strict‐feedback nonlinear system based on the mean value theorem. Then, an adaptive preassigned finite‐time controller is obtained based on a modified barrier Lyapunov function and backstepping technique. Finally, simulation examples are exhibited to demonstrate the effectiveness of the proposed scheme. 相似文献
19.
《自动化学报》2014,(11)
This paper investigates the consensus problem of discrete-time linear multi-agent systems(DLMASs) with directed switching information topologies and time-varying delays. First, we transform the consensus problem to an asymptotic stability problem of a corresponding time-delayed switched linear system(TDSLS) via a proper linear transformation. Then by using a constructed Lyapunov functional and the average dwell-time scheme, we establish a novel delay-dependent sufficient condition for the solvability of the consensus problem in terms of linear matrix inequalities(LMIs) for two cases, respectively: 1) all of the given information topologies are consensusable; 2) some of the given information topologies are consensusable. Finally, numerical examples are given to show the validness of the established results. 相似文献
20.
针对一类非严格反馈的非线性多智能体系统一致性跟踪问题,在考虑全状态约束和指定性能的基础上提出了一种事件触发自适应控制算法.首先,通过设计性能函数,使跟踪误差在规定时间内收敛于指定范围.然后,在反步法中引入Barrier Lyapunov函数使所有状态满足约束条件,结合动态面技术解决传统反步法产生的\"计算爆炸\"问题,并利用径向基函数神经网络（Radial basis function neural networks,RBF NNs）处理系统中的未知非线性函数.最后基于Lyapunov稳定性理论证明系统中所有信号都是半全局一致最终有界的,跟踪误差收敛于原点的有界邻域内且满足指定性能.仿真结果验证了该控制算法的有效性. 相似文献