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Adaptive Attitude Control for Multi-MUAV Systems With Output Dead-Zone and Actuator Fault

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IEEE/CAA Journal of Automatica Sinica 2021年第9期8卷 1567-1575页

作者： Guowei Dong Liang Cao deyin yao Hongyi Li Renquan Lu School of Automation and the Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of TechnologyGuangzhou 510006China

Many mechanical parts of multi-rotor unmanned aerial vehicle(MUAV)can easily produce non-smooth phenomenon and the external disturbance that affects the stability of *** multi-MUAV attitude systems that experience output dead-zone,external disturbance and actuator fault,a leader-following consensus anti-disturbance and fault-tolerant control(FTC)scheme is proposed in this *** the design process,the effect of unknown nonlinearity in multi-MUAV systems is addressed using neural networks(NNs).In order to balance out the effects of external disturbance and actuator fault,a disturbance observer is designed to compensate for the aforementioned negative *** Nussbaum function is used to address the problem of output *** designed fault-tolerant controller guarantees that the output signals of all followers and leader are synchronized by the backstepping ***,the effectiveness of the control scheme is verified by simulation experiments.

关键词： Disturbance observer fault-tolerant control(FTC) multi multi-rotor unmanned aerial vehicle(multi-MUAV)attitude systems neural networks(NNs) output dead-zone

Human-in-the-Loop Consensus Control for Nonlinear Multi-Agent Systems With Actuator Faults

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 111-122页

作者： Guohuai Lin Hongyi Li Hui Ma deyin yao Renquan Lu School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of TechnologyGuangzhou 510006China

This paper considers the human-in-the-loop leader-following consensus control problem of multi-agent systems(MASs)with unknown matched nonlinear functions and actuator *** is assumed that a human operator controls the MASs via sending the command signal to a non-autonomous leader which generates the desired ***,the leader’s input is nonzero and not available to all *** using neural networks and fault estimators to approximate unknown nonlinear dynamics and identify the actuator faults,respectively,the neighborhood observer-based neural fault-tolerant controller with dynamic coupling gains is *** is proved that the state of each follower can synchronize with the leader’s state under a directed graph and all signals in the closed-loop system are guaranteed to be cooperatively uniformly ultimately ***,simulation results are presented for verifying the effectiveness of the proposed control method.

关键词： Actuator faults distributed control human-in-the-loop neighborhood observer nonlinear multi-agent systems(MASs)

Event-Triggered Adaptive Neural Control for Multiagent Systems with Deferred State Constraints

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Journal of Systems Science & Complexity 2022年第3期35卷 973-992页

作者： YANG Bin CAO Liang XIAO Wenbin yao deyin LU Renquan School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of TechnologyGuangzhou 510006China

This paper focuses on the leader-following consensus control problem for nonlinear multiagent systems subject to deferred asymmetric time-varying state constraints.A distributed eventtriggered adaptive neural control approach is *** virtue of a distributed sliding-mode estimator,the leader-following consensus control problem is converted into multiple simplified tracking control ***,a shifting function is utilized to transform the error variables such that the initial tracking condition can be totally unknown and the state constraints can be imposed at a specified time ***,the deferred asymmetric time-varying full state constraints are addressed by a class of asymmetric barrier Lyapunov *** order to reduce the burden of communication,a relative threshold event-triggered mechanism is incorporated into controller and Zeno behavior is *** on Lyapunov stability theorem,all closed-loop signals are proved to be semi-globally uniformly ultimately ***,a practical simulation example is given to verify the presented control scheme.

关键词： Adaptive neural control deferred time-varying state constraints event-triggered mechanism multiagent systems sliding-mode estimator

Dynamic event-triggered finite-time control for multiple Euler-Lagrange systems using integral terminal sliding mode

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Science China(Technological Sciences) 2023年第11期66卷 3164-3173页

作者： WANG Yan LI Xiao-Meng YUAN Wang yao deyin LI HongYi Information Technology Research Institute Shenzhen Institute of Information TechnologyShenzhen 518172China School of Automation Guangdong University of TechnologyGuangzhou 510006China

The tracking control for multiple Euler-Lagrange systems with external disturbances in finite time under undirected topology is investigated in this paper.A dynamic model is established for the multi-EL systems to accurately describe the general mechanical ***,an integral terminal sliding mode surface is devised to converge the tracking errors of the system state to a neighborhood of zero within finite time,and the designed finite-time controller ensures fast convergence and high steady-state *** reduce the controller update frequency and network transmission communication load,a dynamic event-triggered mechanism is introduced between the sensor and controller,and no Zeno behavior was ***,the Lyapunov stability theory and finite-time stability criterion prove that all signals in the closed-loop system are uniformly ultimately bounded in finite ***,the simulation results verified the effectiveness of the proposed control method.

关键词： dynamic event-triggered mechanism external disturbances finite-time control integral terminal sliding mode control multiple Euler–Lagrange systems

A Novel Active Queue Management Algorithm: Finite-Time H∞ Congestion Tracking Control

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A Novel Active Queue Management Algorithm: Finite-Time H∞ C...

第三十九届中国控制会议

作者： Yang Liu deyin yao Hongyi Li Renquan Lu School of Automation Guangdong University of Technologyand the Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control

A novel active queue management algorithm, called finite-time robust tracking control, is proposed for a class of transmission control protocol/active queue management（TCP/AQM） nonlinear networks in this paper. By virtue of a new function, named finite-time performance function, the designed finite-time controller can make sure that the tracking error converges to an arbitrarily small zone in finite-time. Meanwhile, the effect of external disturbances with respect to the system output is attenuated up to a given degree by using H∞ control. In addition, the settling time of this work can be set to an arbitrary value in advance as well as the steady and transient state performances of the tracking error can be pre-given. Finally, simulation results are employed to verify the effectiveness of the proposed new AQM method.

关键词： Finite-time tracking control TCP/AQM networks H∞ control finite-time performance function

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河南省水资源可持续利用对策

地域研究与开发 1999年第1期18卷 37-38,42页

作者：陈传美郑垂勇姚德印河海大学技术经济学院郑州高新农业试验区

水资源短缺已成为制约河南省社会经济发展的重要因素。在分析河南省水资源特点及开发利用中存在问题的基础上，本着水资源可持续利用的原则，从强化节水措施、加强水资源保护与管理。

关键词：河南省水资源持续利用对策

基于事件触发机制的多四旋翼无人机鲁棒自适应滑模姿态控制

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中国科学：信息科学 2023年第1期53卷 66-80页

作者：李鸿一王琰姚得银周琪鲁仁全广东工业大学自动化学院广州510006 广东省智能决策与协同控制重点实验室(广东工业大学) 广州510006

针对一类具有外部干扰的多四旋翼无人机姿态系统,研究其在无向拓扑下的姿态跟踪问题,提出一种基于事件触发机制的鲁棒自适应滑模控制方法.首先,建立多四旋翼无人机的姿态动力学模型,并引入干扰观测器,对系统受到的未知外部干扰进行估计... 详细信息

针对一类具有外部干扰的多四旋翼无人机姿态系统,研究其在无向拓扑下的姿态跟踪问题,提出一种基于事件触发机制的鲁棒自适应滑模控制方法.首先,建立多四旋翼无人机的姿态动力学模型,并引入干扰观测器,对系统受到的未知外部干扰进行估计.其次,为了节约四旋翼无人机的网络传输资源,本文在传感器和控制器之间引入事件触发机制,并结合鲁棒滑模控制算法,设计基于事件触发的鲁棒自适应滑模控制器.此外,通过Lyapunov稳定性理论证明闭环系统中所有信号最终有界,并证明所设计的事件触发机制能够有效避免Zeno行为.最后,仿真结果验证所提控制方法的有效性.

关键词：滑模控制事件触发机制干扰观测器姿态跟踪多四旋翼无人机系统

Adaptive Attitude Control for Multi-MUAV Systems With Output Dead-Zone and Actuator Fault

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Human-in-the-Loop Consensus Control for Nonlinear Multi-Agent Systems With Actuator Faults

IEEE/CAA Journal of Automatica Sinica 2021年第9期

作者： Guowei Dong Liang Cao deyin yao Hongyi Li Renquan Lu

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