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Distributed Asymptotic Consensus in Directed Networks of Nonaffine Systems With Nonvanishing Disturbance

IEEE/CAA Journal of Automatica Sinica 2021年第6期8卷 1133-1140页

作者： Qingling Wang Changyin Sun School of Automation Southeast UniversityNanjing 210096 Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationNanjing 210096China

In this paper the distributed asymptotic consensus problem is addressed for a group of high-order nonaffine agents with uncertain dynamics,nonvanishing disturbances and unknown control directions under directed networks.A class of auxiliary variables are first introduced which forms second-order filters and induces all measurable signals of agents’states.In view of this property,a distributed robust integral of the sign of the error(DRISE)design combined with the nussbaum-type function is presented that guarantees not only the desired asymptotic consensus,but also the uniform boundedness of all closed-loop variables.Compared with the traditional sliding mode control(SMC)technique,the main feature of our approach is that the integral operation in the proposed control algorithm is designed to be adopted in a continuous manner and ensures less chattering behavior.Simulation results for a group of Duffing-Holmes chaotic systems are employed to verify our theoretical analysis.

关键词： Asymptotic consensus nonaffine systems nonvanishing disturbance nussbaum-type functions unknown control directions

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Exact tracking control of hypersonic flight vehicles with full state constraints

Exact tracking control of hypersonic flight vehicles with fu...

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第40届中国控制会议

作者： Yajing Li Chinese Flight Test Establishment

This paper investigates the exact tracking control problem of hypersonic flight vehicles（HFVs） with consideration of full state constraints. The constrained states are transformed into new states which are free of constraints by using nonlinear state transformations, and the constrained control problem is addressed as a simpler bounded control problem. Besides, by introducing nussbaum-type functions in the control design, the exact racking performance is guaranteed even when the unknown system dynamics and the full state constraints are both considered. Only two adaptive parameters are required to be updated online,which significantly reduces the computational burden. The stability of the closed-loop system is proved via Lyapunov theory,and the effectiveness of the proposed control algorithm is demonstrated by simulation results.

关键词： Hypersonic flight vehicles（HFVs） exact tracking control full state constraints nonlinear state transformations nussbaum-type functions

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