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Yi‐Shao Huang 《国际强度与非线性控制杂志
》2012,22(15):1720-1742
》2012,22(15):1720-1742
In this paper, a novel decentralized robust adaptive fuzzy control scheme is proposed for a class of large‐scale multiple‐input multiple‐output uncertain nonlinear systems. By virtue of fuzzy logic systems and the regularized inverse matrix, the decentralized robust indirect adaptive fuzzy controller is developed such that the controller singularity problem is addressed under a united design framework; no a priori knowledge of the bounds on lumped uncertainties are being required. The closed‐loop large‐scale system is proved to be asymptotically stable. Simulation results confirmed the validity of the approach presented. Copyright © 2011 John Wiley & Sons, Ltd. 相似文献
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In this paper, an adaptive fuzzy decentralized output feedback control approach is presented for a class of uncertain nonlinear pure‐feedback large‐scale systems with immeasurable states. Fuzzy logic systems are utilized to approximate the unknown nonlinear functions, and a fuzzy state observer is designed to estimate the immeasurable states. On the basis of the adaptive backstepping recursive design technique, an adaptive fuzzy decentralized output feedback is developed. It is proved that the proposed control approach can guarantee that all the signals of the resulting closed‐loop system are semiglobally uniformly ultimately bounded (SUUB), and that the observer and tracking errors converge to a small neighborhood of the origin by appropriate choice of the design parameters. Simulation studies are included to illustrate the effectiveness of the proposed approach. Copyright © 2012 John Wiley & Sons, Ltd. 相似文献
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In this paper, the control synthesis problem for a class of large‐scale systems with multi‐modes that are called large‐scale switched systems is addressed. By introducing the concept of decentralized switching signal and the relevant decentralized average dwell time, the asymptotic stability and weighted ?2 gain performance are investigated. It should be noted that the decentralized switching covers general switching cases for large‐scale switched systems, namely, it admits both time‐dependent switching signal and arbitrary switching signal blended in the decentralized switching. Then, on the basis of the analysis results, the decentralized weighted control scheme including state feedback controller gains and switching signals is studied. Several design algorithms are proposed to meet different controller design problems. Finally, numerical examples are provided to illustrate theoretical findings within this paper. Copyright © 2013 John Wiley & Sons, Ltd. 相似文献
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In this paper, an adaptive decentralized tracking control scheme is designed for large‐scale nonlinear systems with input quantization, actuator faults, and external disturbance. The nonlinearities, time‐varying actuator faults, and disturbance are assumed to exist unknown upper and lower bounds. Then, an adaptive decentralized fault‐tolerant tracking control method is designed without using backstepping technique and neural networks. In the proposed control scheme, adaptive mechanisms are used to compensate the effects of unknown nonlinearities, input quantization, actuator faults, and disturbance. The designed adaptive control strategy can guarantee that all the signals of each subsystem are bounded and the tracking errors of all subsystems converge asymptotically to zero. Finally, simulation results are provided to illustrate the effectiveness of the designed approach. 相似文献
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The problem of stabilizing networks of interconnected dynamical systems (NDS) in a scalable fashion is considered. As the first contribution, a generalized lemma and example network are provided to demonstrate that state‐of‐the‐art, tractable dissipation‐based NDS stabilization methods can fail even for simple unconstrained, linear, and time‐invariant dynamics. Then, a solution to this issue is proposed, in which controller synthesis is decentralized via a set of parameterized storage functions. The corresponding stability conditions allow for max‐type construction of a trajectory‐specific Lyapunov function for the full closed‐loop network, whereas neither of the local storage functions is required to be monotonically converging. The provided approach is indicated to be nonconservative in the sense that it can generate converging closed‐loop trajectories for the motivating example network and a prescribed set of initial conditions. For input‐affine NDS and quadratic parameterized storage functions, the synthesis scheme can be formulated as a set of low‐complexity semidefinite programs that are solved online, in a receding horizon fashion. Moreover, for linear and time‐invariant networks, an even simpler, explicit control scheme is derived by interpolating a collection of a priori generated converging state and control trajectories in a distributed fashion. Copyright © 2012 John Wiley & Sons, Ltd. 相似文献
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This paper considers discrete‐time large‐scale networked control systems with multiple local communication networks connecting sensors, controllers, and actuators. The local networks operate asynchronously and independently of each other in the presence of variable sampling intervals, transmission delays, and scheduling protocols (from sensors to controllers). The time‐delay approach that was recently suggested to decentralized stabilization of large‐scale networked systems in the continuous time is extended to decentralized control in the discrete time. An appropriate Lyapunov‐Krasovskii method is presented that leads to efficient LMI conditions for the exponential stability and l2‐gain analysis of the closed loop large‐scale system. Differences from the continuous‐time results are discussed. A numerical example of decentralized control of 2 coupled cart‐pendulum systems illustrates the efficiency of the results. 相似文献
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In this paper, we present a novel rendezvous algorithm framework ‐ the combination framework, which is named after the term convex combination in computational geometry. The convergence of the proposed algorithms is proved based on the novel tools from the recent results in graph theory and consensus study. It has been observed that the circumcenter algorithm can be considered as a special case of the combination framework. Moreover, the relevant analysis provides us a novel viewpoint on designing and the rendezvous rate of rendezvous algorithms for networked multi‐agent systems with limited sensing ranges. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society 相似文献
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In Large Scale Systems the concept of centrality fails due to the lack of centralized computing capability. The control of such systems has to be performed using multiple control agents. In this case, the matter of interactions among neighboring subsystems needs to be considered. In this paper, a water control system in the Netherlands is studied as a real large scale system. A multi‐agent scheme is applied to control the flow through the system which is decomposed into two interconnected subsystems. Each agent employs a model‐based predictive control (MPC) technique. The model of this large scale system is nonlinear and nonconvex. Therefore, an augmented Lagrangian pattern search optimization algorithm is used to implement multi‐agent MPC for this system. This proposed algorithm is applied by each control agent to solve its own interconnected optimization problem, at each subsystem of whole the water system. Simulation results show the effectiveness of the proposed approach. 相似文献
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基于SERCOS总线的分布式控制系统设计 总被引：1，自引：0，他引：1
SERCOS总线是目前用于数字伺服和传动数据通信的唯一国际标准,具有开放性、兼容性、实时性等优点。本文设计了基于SERCOS总线的分布式控制系统,采用上位机和下位机结构,利用配置了SERCOS接口卡的PC机作为上位机,通过光纤环路向下位机发送指令。下位机由DSP控制器、电机驱动和反馈电路等组成,对电机进行位置闭环控制。实验结果表明,SERCOS总线成功地实现了上位机对电机的实时监控。 相似文献
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The problem of robust synchronization of a network of interconnected dynamical subsystems with a leader is considered. Each local subsystem of network is described by a linear time‐varying parametrically and functionally uncertain differential equation. Only scalar inputs and outputs of local subsystems are supposed to be measured. A simple decentralized controller ensuring the tracking of the local subsystems by the leader under matching conditions is designed. The method is illustrated by an example, synchronization of the network with four nodes. Copyright © 2013 John Wiley & Sons, Ltd. 相似文献
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Sung Jin Yoo 《国际强度与非线性控制杂志
》2015,25(8):1107-1125
》2015,25(8):1107-1125
This paper presents an approximation design for a decentralized adaptive output‐feedback control of large‐scale pure‐feedback nonlinear systems with unknown time‐varying delayed interconnections. The interaction terms are bounded by unknown nonlinear bounding functions including unmeasurable state variables of subsystems. These bounding functions together with the algebraic loop problem of virtual and actual control inputs in the pure‐feedback form make the output‐feedback controller design difficult and challenging. To overcome the design difficulties, the observer‐based dynamic surface memoryless local controller for each subsystem is designed using appropriate Lyapunov‐Krasovskii functionals, the function approximation technique based on neural networks, and the additional first‐order low‐pass filter for the actual control input. It is shown that all signals in the total controlled closed‐loop system are semiglobally uniformly bounded and control errors converge to an adjustable neighborhood of the origin. Finally, simulation examples are provided to illustrate the effectiveness of the proposed decentralized control scheme. Copyright © 2013 John Wiley & Sons, Ltd. 相似文献
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This paper studies the decentralized event‐triggered control of large‐scale nonlinear systems. We consider a class of decentralized control systems that are transformable into an interconnection of input‐to‐state stable subsystems with the sampling errors as the inputs. The sampling events for each subsystem are triggered by a threshold signal, and the threshold signals for the subsystems are independent with each other for the decentralized implementation. By appropriately designing the event‐triggering mechanisms, it is shown that infinitely fast sampling can be avoided for each subsystem and asymptotic regulation is achievable for the large‐scale system. The proposed design is based on the ISS small‐gain arguments, and is validated by a benchmark example of controlling two coupled inverted pendulums. 相似文献
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In this paper, we consider the output synchronization problem for heterogeneous networks of right‐invertible linear agents. We assume that all the agents are introspective, meaning that they have access to their own local measurements. Under this assumption, we then propose a decentralized control scheme for solving the output synchronization problem for a set of network topologies. The proposed scheme can also be applied to solve the output formation problem with arbitrary formation vectors. We also consider the regulation of output synchronization problem, where the output of each agent has to track an a priori specified reference trajectory, generated by an exosystem. In this case, we assume that the root agent has access to its own output relative to the reference trajectory.Copyright © 2013 John Wiley & Sons, Ltd. 相似文献
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This article investigates the flocking control problem of double-integrator multi-agent systems with a virtual leader subject to unknown external disturbances. A robust integral of sign of error (RISE) based control method is leveraged to design a distributed flocking controller with advantages of zero initial input value and continuous control input. By means of a new second-order differential virtual potential field function, and the navigational feedback from a virtual leader, the proposed flocking controller assures agents of velocity consensus with the virtual leader and a quasi -lattice formation within a circular neighborhood centered on the virtual leader. Moreover, this algorithm guarantees collision avoidance and connectivity preservation of a proximity-induced communication topology. Numerical simulations of the algorithm are provided to illustrate the effectiveness of the proposed flocking algorithm. 相似文献
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大规模无线传感器网络定位算法研究 总被引：1，自引：0，他引：1
在同一仿真平台上比较了3种分布式定位算法,Ad Hoc positioning,Robust positioning和N-Hopmultilateration,并介绍了每种算法的基本原理和实现方法,抽象出一种适用于大规模无线传感器网络的通用三阶段分布式定位结构体系。仿真结果显示了3种算法在不同场景下的定位误差情况,比较了3种算法的优劣,同时,也对不同的网络环境参数对网络定位性能的影响做出了分析。 相似文献