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基于事件触发的网络化系统输出反馈耗散控制

控制工程 2024年第3期31卷 400-405,415页

作者：王岩葛超赵志伟华长春华北理工大学人工智能学院河北唐山063210 唐山学院人工智能学院河北唐山063000 燕山大学电气工程学院河北秦皇岛066000

针对事件触发机制下网络化系统的输出反馈耗散控制问题进行研究。首先,引入事件触发机制来减少有限带宽的影响,节约系统资源;其次,考虑网络化系统中存在的外部干扰,利用输入时滞法建立了基于事件触发机制的时滞系统模型;然后,构造一种... 详细信息

针对事件触发机制下网络化系统的输出反馈耗散控制问题进行研究。首先,引入事件触发机制来减少有限带宽的影响,节约系统资源;其次,考虑网络化系统中存在的外部干扰,利用输入时滞法建立了基于事件触发机制的时滞系统模型;然后,构造一种时滞相关的Lyapunov-Krasovskii泛函,利用改进的积分处理方法推导出了保证闭环系统严格耗散性能的充分条件,并采用锥补线性化算法求出输出反馈控制器增益和事件触发参数矩阵;最后,通过数值仿真验证了所提方法的有效性与优越性。

关键词：网络化控制系统事件触发机制输出反馈耗散控制

Adaptive Control for a Class of Nonlinear Time-Delay System Based on the Fully Actuated System Approaches

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Journal of Systems Science & Complexity 2022年第2期35卷 522-534页

作者： NING Pengju hua changchun MENG Rui School of Electrical Engineering Yanshan UniversityQinhuangdao 066004China

This paper focuses on the problem of adaptive control for a class of time-delay ***,the strict feedback nonlinear time-delay system is transformed into a fully actuated system by utilizing the fully actuated system ***,the uncertain time-delay terms of the system are bounded by the product of the absolute value of the system state and the non-linear function with the unknown *** following the high order fully actuated system approaches,a continuous adaptive controller is designed for the *** is proved that the controller can render the system achieve asymptotically ***,two numerical examples are provided to illustrate the effectiveness of the theoretical results.

关键词： Adaptive control fully actuated system approaches nonlinear systems time-delay systems

Position Measurement Based Slave Torque Feedback Control for Teleoperation Systems With Time-Varying Communication Delays

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 388-402页

作者： Xian Yang Jing Yan changchun hua Xinping Guan the Institute of Information Science and Engineering Yanshan University the Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Qinhuangdao 066004China IEEE the Institute of Electrical Engineering Yanshan UniversityQinhuangdao 066004China the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China

Bilateral teleoperation system is referred to as a promising technology to extend human actions and intelligence to manipulating objects *** the tracking control of teleoperation systems,velocity measurements are necessary to provide feedback ***,due to hardware technology and cost constraints,the velocity measurements are not always *** addition,the time-varying communication delay makes it challenging to achieve tracking *** paper provides a solution to the issue of real-time tracking for teleoperation systems,subjected to unavailable velocity signals and time-varying communication *** order to estimate the velocity information,immersion and invariance(I&I)technique is employed to develop an exponential stability velocity *** the proposed velocity observer,a linear relationship between position and observation state is constructed,through which the need of solving partial differential and certain integral equations can be ***,the mean value theorem is exploited to separate the observation error terms,and hence,all functions in our observer can be analytically *** the estimated velocity information,a slave-torque feedback control law is presented.A novel Lyapunov-Krasovskii functional is constructed to establish asymptotic tracking *** particular,the relationship between the controller design parameters and the allowable maximum delay values is ***,simulation and experimental results reveal that the proposed velocity observer and controller can guarantee that the observation errors and tracking error converge to zero.

关键词： Asymptotic stability bilateral teleoperation time-varying delay velocity observer

Relaxed Stability Criteria for Delayed Generalized Neural Networks via a Novel Reciprocally Convex Combination

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IEEE/CAA Journal of Automatica Sinica 2023年第7期10卷 1631-1633页

作者： Yibo Wang changchun hua Poo Gyeon Park School of Electrical Engineering Yanshan UniversityQinhuangdao 066004China Department of Electrical Engineering Pohang University of Science and TechnologyPohang 37673South Korea

Dear Editor,This letter examines the stability issue of generalized neural networks(GNNs) with time-varying delay based on a novel reciprocally convex combination(RCC). By considering a new matrix polynomial, the proposed novel reciprocally convex method leads to a tight bound for integral inequality combination and encompasses several existing approaches as special cases.

关键词： convex reciprocal inequality

Multivariable sliding mode backstepping controller design for quadrotor UAV based on disturbance observer

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Science China(Information Sciences) 2018年第11期61卷 155-170页

作者： Zheng ZHANG Fang WANG Ying GUO changchun hua School of Science Yanshan University School of Electric Engineering Yanshan University

This paper deals with the tracking control problem of quadrotor unmanned aerial vehicles(QUAVs) with external disturbances. First, because the QUAV model contains two non-integrity constraints,the dynamic model of the QUAV is decomposed into two subsystems which are independently controlled, so as to reduce controller design complexity. Secondly, the nonlinear disturbance observer(DOB) technique is integrated into a backstepping control method to design the controller for the first subsystem, in which a DOB is applied to estimate the lumped uncertainty. Based on the double power reaching law and the DOB,a multivariable sliding mode control(MSMC) scheme is developed for the second subsystem. Thirdly, based on Lyapunov theory, the closed-loop system is proved to be asymptotically stable. Finally, our comparative simulation results demonstrate that the presented control scheme behaves better in terms of tracking performance than the adaptive backstepping control(ABC) approach.

关键词： quadrotor unmanned aerial vehicle QUAV nonlinear DOB backstepping control sliding mode control power reaching law

Adaptive Backstepping Sliding Mode Control of Uncertain Semi-Strict Nonlinear Systems and Application to Permanent Magnet Synchronous Motor

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Journal of Systems Science & Complexity 2021年第2期34卷 552-571页

作者： WANG Fang WANG Jian-mei WANG Kun ZONG Qun hua changchun School of Science Yanshan UniversityQinhuangdao 066004China School of Electrical and Information Engineering Tianjin UniversityTianjin 300072China School of Electrical and Engineering Yanshan UniversityQinhuangdao 066004China

A disturbance observer(DOB)based-backstepping sliding mode control scheme is discussed for a class of semi-strict nonlinear system with unknown parameters and mismatched ***,adaptive technique and DOB are respectively applied to tackle the unknown parameters and mismatched uncertainty,where the DOB can effectively alleviate the chattering problem of sliding mode control(SMC).Then,exponential sliding mode surface is proposed to improve the convergence rate of the sliding mode ***‘explosion of complexity’problem inherent in conventional backstepping control is overcome by designing the novel first-order *** stability of the closed-loop system is analyzed in the framework of Lyapunov stability theory,in which the tracking error converges to an arbitrarily small neighborhood around zero(ASNZ).At last,two examples are given to illustrate the effectiveness of the proposed control strategy.

关键词： Adaptive law DOB filter semi-strict nonlinear system SMC

Fixed-Time Controller Design for a Quadrotor UAV with Asymmetric Output Error Constraints

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系统科学与复杂性学报:英文版 2023年第5期36卷 1981-2000页

作者： WANG Fang MA Zhigang ZHOU Chao ZHANG Zheng hua changchun ZONG Qun School of Science Yanshan UniversityQinhuangdao 066004China Ocean College Hebei Agricultural UniversityQinhuangdao 066003China School of Electric Engineering Yanshan UniversityQinhuangdao 066004China School of Electrical and Information Engineering Tianjin UniversityTianjin 300072China

In this article,a fixed-time tracking control strategy is proposed for a quadrotor UAV(QUAV)with external disturbance and asymmetric output error ***,a dynamic model of the QUAV is transformed into a strict feedback system with external disturbance,and it is decoupled into attitude subsystem and position subsystem for simplifying controller ***,an asymmetric tangent barrier Lyapunov function(ATBLF)is applied to solve the tracking error constraints problem,and a fixed-time control law is ***,a fixed-time disturbance observer(FTDO)is designed to cope with external ***,it is proved that the designed controller guarantees the tracking error remains within the constraint ranges and converges to zero in fixed-time by Lyapunov stability ***,the effectiveness of the proposed control scheme is verified by numerical simulations.

关键词： Asymmetric tangent barrier Lyapunov function(ATBLF) fixed-time disturbance observer(FTDO) output error constraints quadrotor UAV(QUAV)

An Algebraic Detection Approach for Control Systems under Multiple Stochastic Cyber-attacks

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IEEE/CAA Journal of Automatica Sinica 2015年第3期2卷 258-266页

作者： Yumei Li Holger Voos Mohamed Darouach changchun hua the Interdisciplinary Centre for Security Reliability and Trust(SnT) University of Luxembourg the Centre de la Recherche en Automatique de Nancy(CRAN) Universite de Lorraine the Institute of Electrical Engineering Yanshan University

In order to compromise a target control system successfully, hackers possibly attempt to launch multiple cyberattacks aiming at multiple communication channels of the control system. However, the problem of detecting multiple cyber-attacks has been hardly investigated so far. Therefore, this paper deals with the detection of multiple stochastic cyber-attacks aiming at multiple communication channels of a control system. Our goal is to design a detector for the control system under multiple cyberattacks. Based on frequency-domain transformation technique and auxiliary detection tools, an algebraic detection approach is proposed. By applying the presented approach, residual information caused by different attacks is obtained respectively and anomalies in the control system are detected. Sufficient and necessary conditions guaranteeing the detectability of the multiple stochastic cyber-attacks are obtained. The presented detection approach is simple and straightforward. Finally, two simulation examples are provided, and the simulation results show that the detection approach is effective and feasible. © 2014 Chinese Association of Automation.

关键词： Algebra Communication channels (information theory) Control systems Crime Frequency domain analysis Personal computing Stochastic systems

Robust Output Feedback Control for Fractional Order Nonlinear Systems with Time-varying Delays

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IEEE/CAA Journal of Automatica Sinica 2016年第4期3卷 477-482页

作者： changchun hua Tong Zhang Yafeng Li Xinping Guan Institute of Electrical Engineering Yanshan University Department of Automation Shanghai Jiao Tong University

Robust controller design problem is investigated for a class of fractional order nonlinear systems with time varying delays. Firstly, a reduced-order observer is designed. Then, an output feedback controller is designed. Both the designed observer and controller are independent of time delays. By choosing appropriate Lyapunov functions, we prove the designed controller can render the fractional order system asymptotically stable. A simulation example is given to verify the effectiveness of the proposed approach. © 2014 Chinese Association of Automation.

关键词： Algebra Backstepping Controllers Feedback Feedback control Lyapunov functions Nonlinear systems Robust control Time delay