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Control Theory and Technology 2023年第3期21卷 414-424页

作者： Xinfei Wu Xiao Yu weiyao lan Department of Automation Xiamen UniversityXiamen 361005FujianChina Key Laboratory of Control and Navigation(Xiamen University) Fujian Province UniversityXiamen 361005FujianChina

This paper investigates the cooperative output regulation problem of linear multi-agent systems with a linear exogenous system(exo-system).The network topology is described by a directed graph which contains a directed spanning tree with the exo-system as the root.Aiming at improving the transient performance of the multi-agent systems,a dynamic control law is developed by the composite nonlinear feedback(CNF)control technique.In particular,a distributed dynamic compensator independent of the interaction on the compensator states of agents among the network,is adopted.The solvability condition for the cooperative output regulation problem is obtained using the small-gain theory,which will not be destroyed by adding the nonlinear feedback part of the CNF control law.It is also shown that in the case with the exo-system not diverging exponentially,the small-gain condition can be guaranteed using the low-gain design.Finally,simulation results illustrate that the proposed CNF control law improves the transient performance for the cooperative output regulation of linear multi-agent systems.

关键词： Cooperative output regulation-Distributed dynamic compensator Composite nonlinear feedback Small-gain condition

Data-driven cooperative optimal output regulation for linear discrete-time multi-agent systems by online distributed adaptive internal model approach

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Science China(Information Sciences) 2023年第7期66卷 30-45页

作者： Kedi XIE Yi JIANG Xiao YU weiyao lan Department of Automation Xiamen University Department of Electrical Engineering City University of Hong Kong Key Laboratory of Control and Navigation(Xiamen University) Fujian Province University

In this study, a data-driven learning algorithm was developed to estimate the optimal distributed cooperative control policy, which solves the cooperative optimal output regulation problem for linear discretetime multi-agent systems. Notably, the dynamics of all the agent systems and exo-system is completely unknown. By combining adaptive dynamic programming with an internal model, a model-free off-policy learning method is proposed to estimate the optimal control gain and the distributed adaptive internal model by only accessing the measurable data of multi-agent systems. Moreover, different from the traditional cooperative adaptive controller design method, a distributed internal model is approximated online. Convergence and stability analyses show that the estimate controller generated by the proposed data-driven learning algorithm converges to the optimal distributed controller. Finally, simulation results verify the effectiveness of the proposed method.

关键词： adaptive dynamic programming cooperative control distributed adaptive internal model multi-agent systems optimal output regulation

Early-Awareness Collision Avoidance in Optimal Multi-Agent Path Planning With Temporal Logic Specifications

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IEEE/CAA Journal of Automatica Sinica 2023年第5期10卷 1346-1348页

作者： Yiwei Zheng Aiwen Lai Xiao Yu weiyao lan the Department of Automation Xiamen UniversityXiamen 361005 the Key Laboratory of Control and Navigation(Xiamen University) Fujian Province UniversityXiamen 361005China the Innovation Laboratory for Sciences and Technologies of Energy Materials of Fujian Province(IKKEM) Xiamen 361005China

Dear Editor,This letter investigates a multi-agent path planning problem in a road network with the requirement of avoiding collisions among all agents in the partitioned environment.We first abstract the agents to a set of transition systems,and construct a team transition system from these individual systems.A mechanism is designed for the team transition system to detect all collisions within the synthesized run.

关键词： agent Temporal individual

Distributed Nash Equilibrium Seeking Over Random Graphs

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IEEE/CAA Journal of Automatica Sinica 2022年第12期9卷 2193-2196页

作者： Ji Ma Jiayu Qiu Xiao Yu weiyao lan Department of Automation Xiamen Universityand the Key Laboratory of Control and Navigation(Xiamen University)Fujian Province UniversityXiamen 361005China IEEE Department of Automation Xiamen University and the Key Laboratory of Control and Navigation(Xiamen University)Fujian Province UniversityXiamen 361005China Innovation Laboratory for Sciences and Technologies of Energy Materials of Fujian Province(IKKEM) Xiamen 361005China

Dear Editor,This letter is concerned with the distributed Nash equilibrium(NE)seeking in an N-player game over random graphs. We develop a distributed stochastic forward-backward(DSFB) algorithm based on local information exchange between agents. We prove that the DSFB algorithm can converge to an NE almost surely, and analyze the convergence rate of the proposed algorithm. Compared with the existing works on distributed NE seeking, the communication graph in this letter is supposed to be time-varying and stochastic, which makes the NE seeking algorithm more suitable for practical scenarios, but brings a great challenge in both the design and convergence analysis of the algorithm. Besides, by establishing a variational inequality on NE, we relax the co-coercivity or strong monotonicity assumption on the extended pseudo-gradient.

关键词： seeking letter stochastic

An analysis on the airship dynamic model linearization

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控制理论与应用（英文版） 2013年第3期11卷 495-503页

作者： Xianwu LIN weiyao lan Department of Automation School of Information Science and Technology Xiamen University

The existing results on airship dynamic model linearization are usually achieved under the assumption that the airship trim state has a linear velocity with nonzero axial and normal components. This means that the direction of airship velocity is not coincident with the axis in the trim state and the deflection angles of the air rudders are different from their attack angles. However, these differences are not explicitly distinguished when calculating the air rudders＇ aerodynamic force. In this paper, to build a more accurate airship dynamic model, aerodynamic forces and moments produced by the air rudders are deduced for the case that the direction of airship velocity is not coincident with the trim axis. A special trim state that all linear and angular velocities are zeros except axial and normal linear velocity, adopted by most research on airship dynamic model linearization, is selected to linearize the six degree airship dynamic model for simplicity and for comparison. Both the control forces of the propelling system and the air rudders are linearized to achieve more control inputs for the linear model. The extra control inputs provided by the propelling system can be used to stabilize the airship when the air rudders are invalid due to low speed of the airship or the constraint of air rudder mechanical strength. The nuance between the new linearized model and those deduced in the literature is discussed.

关键词： Airship Model Aerodynamic force Linearization

Global robust output regulation for a class of affine singular nonlinear systems

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Journal of Systems Engineering and Electronics 2017年第4期28卷 745-755页

作者： Bomin Huang Lingmei Chen weiyao lan Department of Automation Xiamen University Xiamen 361005 China

The global robust output regulation problem of the singular nonlinear system is investigated. Motivated by the input-output linearization of the normal affine nonlinear system, a global diffeomorphism map is designed under the assumption that the singular nonlinear system has a strong relative degree. The global diffeomorphism map transfers the singular nonlinear system into a new singular nonlinear system with a special structure. Attaching an internal model to the new singular nonlinear system yields an augmented singular nonlinear system and the global robust stabilization solution of the augmented system implies the global robust output regulation solution of the original singular nonlinear system. Then the global stabilization problem is solved by some appropriate assumptions and the solvability conditions of the global robust output regulation problem are established. Finally, a simulation example is given to illustrate the design approach.

关键词： singular nonlinear system diffeomorphism map output regulation robust control

Composite nonlinear feedback control for output regulation problem of linear discrete-time systems with input saturation

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Journal of Systems Engineering and Electronics 2014年第6期25卷 1043-1055页

作者： Chongwen Wang Xing Chu weiyao lan School of Software Beijing Institute of Technology Department of Automation Xiamen University

Transient performance for output regulation problems of linear discrete-time systems with input saturation is addressed by using the composite nonlinear feedback（CNF） control technique. The regulator is designed to be an additive combination of a linear regulator part and a nonlinear feedback part. The linear regulator part solves the regulation problem independently which produces a quick output response but large oscillations. The nonlinear feedback part with well-tuned parameters is introduced to improve the transient performance by smoothing the oscillatory convergence. It is shown that the introduction of the nonlinear feedback part does not change the solvability conditions of the linear discrete-time output regulation problem. The effectiveness of transient improvement is illustrated by a numeric example.

关键词： output regulation,composite nonlinear feedback,in-put saturation,transient performance,discrete-time system

On the characteristics of ADRC: a PID interpretation

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Science China(Information Sciences) 2020年第10期63卷 258-260页

作者： Huiyu JIN Jingchao SONG weiyao lan Zhiqiang GAO School of Aerospace Engineering Xiamen University Center for Advanced Control Technologies Cleveland State University

Dear editor,This study reports the discovery of active disturbance rejection control (ADRC).Second-order linear ADRC (LADRC),the basic and most popular ADRC,can be interpreted as a modified proportional-integral-derivative (PID) control.LADRC filters the PID feedback compensator with a second-order low-pass filter;it also adds a pre-filter.Simultaneously,each given PID con-

关键词： Active disturbance rejection control PID Feedback compensator Bode plot Low-pass filter

Robust output regulation problem with prescribed performance for nonlinear strict feedback systems

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Journal of Systems Engineering and Electronics 2023年第4期34卷 1033-1041页

作者： ZHU Haichao lan weiyao Department of Automation Xiamen UniversityXiamen 361005China Department of Automation Henan University of Science and TechnologyLuoyang 471000China

This paper investigates the problem of robust output regulation control with prospected transient property for strict feedback systems.By employing the internal model principle,the robust output regulation problem with a prospected property can be transformed to a robust stabilization problem with a new output constraint.Then,by constructing the speed function and adopting barrier Lyapunov function technique,the dynamic feedback controller can be designed not only to drive error output of the closed-loop system entering into a prescribed performance bound within a given finite time,but also to achieve that the error output converges to zero asymptotically.The effectiveness of the results is illustrated by a simulation example.

关键词： robust output regulation nonlinear system prescribed performance bound speed function finite time

Transient Performance Improvement in Tracking Control for a Class of Nonlinear Systems with Input Saturation

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Journal of Systems Science & Complexity 2018年第1期31卷 200-214页

作者： LU Tao lan weiyao LI Zhibin Department of Automation Xiamen University Xiamen 361005 China Academy of Opto-Electronics Chinese Academy of Sciences Beijing 100094 China

这份报纸探讨合成非线性的反馈(CNF ) 为有输入浸透的单个产量的非线性的系统与好短暂性能指向追踪改变引用的一时间的 singleinput 的一个类的控制。CNF 控制法律由一条追踪的控制法律和一个表演赔偿者组成。追踪的控制法律被设计驱使... 详细信息

这份报纸探讨合成非线性的反馈(CNF ) 为有输入浸透的单个产量的非线性的系统与好短暂性能指向追踪改变引用的一时间的 singleinput 的一个类的控制。CNF 控制法律由一条追踪的控制法律和一个表演赔偿者组成。追踪的控制法律被设计驱使系统的输出追踪很快改变引用目标的时间，当性能赔偿者被用来减少追踪的控制法律引起的 overshoot 时。靠近环的系统的稳定性被建立。设计过程和靠近环的系统的短暂性能的改进与一个数字例子和控制凡·德尔·波尔振荡器被说明。

关键词：追踪控制性能改进非线性系统浸透输入设计过程法律