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saturated coordinated control of multiple underactuated unmanned surface vehicles over a closed curve

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Science China(Information Sciences) 2017年第7期60卷 40-53页

作者： Lu LIU Dan WANG Zhouhua PENG Hugh H.T.LIU School of Marine Engineering Dalian Maritime University Department of Computer Science City University of Hong Kong Institute for Aerospace Studies University of Toronto

This paper presents a design method for saturated coordinated control of multiple underactuated unmanned surface vehicles(USVs) on a closed curve, holding a symmetric formation pattern. Each vehicle is subject to unknown sideslip, uncertain vehicle kinetics, and limited control torques. First, the course angle and surge velocity are considered as immediate signals to stabilize the along-track and cross-track path following errors. In the vehicle kinematics, a reduced-order extended state observer is utilized to compensate for the effect of the unknown sideslip. Next, a bounded neural network control law is constructed at the kinetic level with the aid of the a saturated function, a projection operator, and a dynamic surface design method. Finally, a parameter cyclic pursuit approach is presented to guarantee that the vehicles are evenly spaced over the closed curve for achieving a symmetric formation pattern. The input-to-state stability of the closed-loop system is analyzed via cascade theory. Comparative studies are given to show the effectiveness of the proposed method.

关键词： symmetric formation pattern parameter cyclic pursuit reduced-order extended state observer neural networks saturated control

Robust saturated Tracking control of an Autonomous Surface Vehicle

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Robust Saturated Tracking Control of an Autonomous Surface V...

第32届中国控制与决策会议

作者： Jiale Li Xin Yu School of Electrical and Information Engineering Jiangsu University

In this paper,we consider the problem of robust control for an autonomous surface vehicle(ASV) with bounded exogenous *** objective is to design a controller that ensures the system state tracks a sufficiently smooth desired trajectory generated by a suitable virtual *** solve this problem,based on the robust integral of the sign of the error(RISE) feedback,the developed controller is able to utilize a smooth saturated controller with a strong input-to-state stability backstepping *** bounds on the control are known a priori and can be adjusted by changing the feedback ***,A Lyapunov stability analysis is included to prove semi-global asymptotically tracking.A simulation is provided to demonstrate the proposed controller on an experimentally validated ASV model.

关键词： Nonlinear control systems RISE control saturated control Autonomous surface vehicle(ASV)

Design of saturated controllers for linear singular systems

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Journal of Systems Engineering and Electronics 2005年第1期16卷 146-150页

作者： WangRuliang LiuYongqing DepartmentofAutomaticcontrolEngineering SouthChinaUniversityofTechnologyGuangzhou510640P.R.China DepartmentofInformationTechnology GuangxiTeachers'CollegeNanning530001P.R.China

A designing method is presented to find stabilizing saturated linear controllers for linear continuous time and discrete time singular systems with control constraints. The idea is as follows: The system is first stabilized by a low-gain linear state feedback control. A general Lyapunov function is found, on the basis of which another linear state feedback control is computed. The second step is very similar to a relay control design. The two controls are added and saturated.

关键词： singular system saturated control asymptotic stability.

New stabilization design for planar vertical take-off and landing aircrafts

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控制理论与应用（英文版） 2011年第2期9卷 195-202页

作者： Ye, Huawen Sheng, Liang Gui, Weihua Yang, Chunhua School of Information Science and Engineering Central South University Changsha Hunan 410083 China

This paper presents a new stabilizing control law for a planar vertical take-off and landing *** model is first transformed into an equivalent form,and then a control law consisting of a linear term and a saturated term is given for a related subsystem,with the saturation levels being assigned as large as *** to the existing saturation scheme in which all states are restricted by saturations,the design brings about a relatively fast *** effectiveness and advantage of the design are validated by numerical simulations.

关键词： Stabilization Planar vertical take-off and landing (PVTOL) Nonlinear control saturated control

Further Result on Decentralized Stabilization via saturated Delayed Feedback 25th

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Further Result on Decentralized Stabilization via Saturated ...

第25届中国控制与决策会议

作者： Zhenhui WU Huawen YE Weihua GUI Chunhua YANG School of Information Science and Engineering Central South University

ISBN: (纸本)9781467355339

This paper investigates the decentralized stabilization of large scale feedforward nonlinear systems via saturated delayed feedback. A class of saturated delayed controllers is first proposed for the single-input feedforward nonlinear systems: an appropriate normal form rather than the homogeneous property of feedforward systems is depended on, and a small parameter contained in the normal form is assigned into the control law. By tuning the small parameter, the control design allows an arbitrarily large input delay. This scheme is then extended to the setting of decentralized feedforward nonlinear systems. The effectiveness of the suggested algorithm is verified by simulations.

关键词： Decentralized stabilization saturated control time delays feedforward systems nonlinear systems.

control Design Method for Time-Delay Linear Differential Inclusion Systems

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Control Design Method for Time-Delay Linear Differential Inc...

第三十届中国控制会议

作者： CAIXiushan,XU Shengjie,WANG Xiaodong,LVGanyun College of Mathematics,Physics,and Information Engineering, Zhejiang Normal University,Jinhua 321004,P.R.China

＜正＞This article deals with saturated control design for time-delay linear differential inclusion systems subject to disturbances. Convex hull quadratic Lyapunov functions are used for constructing Lyapunov-Razumikhin functions.A saturated control law is designed to stabilize time-delay linear differential inclusion *** the state feedbacks,disturbance rejection with minimal reachable set is ***,the effectiveness of the proposed design technique is illustrated by a simulation example.

关键词： Linear Differential Inclusion saturated control Lyapunov-Razumikhin Functions Disturbance Rejection Time-Delay

Global stabilizer of a general class of feedback nonlinear systems and its exponential convergence

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控制理论与应用（英文版） 2005年第4期3卷 409-414页

作者： Runing MA Jundi DIAN Department of Mathematics Nanjing University of Aeronautics and Astronautics Nanjing Jiangsu 210016 China

We discuss the global stabilization procedure which renders a general class of feedback nonlinear systems exponential convergent, Our stabilizer consists of a nested saturation function, which is a nonlinear combination of saturation functions. Here we prove the exponential convergence of the stabilizer for the first time and give numerical examples to illustrate the efficiency of the result given above,

关键词： Feedback nonlinear system saturated control Global stabilization Exponential convergence

Novel Stabilization Design for the Inertia Wheel Pendulum

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Novel Stabilization Design for the Inertia Wheel Pendulum

第二十七届中国控制会议

作者： Ye Huawen,Hu Yang,Huang Shuqing,Gui Weihua School of Information Science and Engineering,Central South University,Changsha 410083,P.R.China

In this paper,a novel stabilization design is presented for the inertia wheel pendulum by using backstepping technique and a twice differentiable saturation *** global asymptotic stability is proven by showing that the closed-loop system has no finite escape time and eventually reduces to an asymptotically stable *** show that the proposed design is effective.

关键词： Stabilization saturated control Inertia wheel pendulum Backstepping

Stabilization of the Overhead Crane System via Saturation Technique

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Stabilization of the Overhead Crane System via Saturation Te...

第40届中国控制会议

作者： Xianting Qi Huawen Ye Chengkun Li School of Automation Central South University

In this paper, a nested-saturation controller is provided to stabilize the overhead crane system. We transform the overhead crane system into an uncertain nonlinear feed-forward system that is subject to a linear perturbation. Moreover, we designedly view some terms as uncertain multiplicative coefficients. Due to the observation that the bounds of uncertain coefficients can be obtained in the bottom-up recursive analysis, we have no need to treat a second-order subsystem in advance,and design a real bounded control law: a fully-saturated controller. Hopefully, the method in this paper may motivate new stabilizing designs for other under-actuated systems.

关键词： Stabilization the overhead crane system saturated control uncertain nonlinear systems