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Non-fragile reliable control for positive Markovian jump systems based on event-triggered mechanism

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Journal of Control and Decision 2021年第4期8卷 431-443页

作者： Yinggang Feng Junfeng Zhang Shuo Li Shizhou Fu School of Automation Hangzhou Dianzi UniversityHangzhou 310018People’s Republic of China

This paper is concerned with the non-fragile reliable control of positive Markovian jump systems with actuator saturation based on event-triggered mechanism.First,an event-triggering condition is given in the form of 1-norm.Using a stochastic co-positive Lyapunov function,a design approach is proposed for the non-fragile controller gain and the corresponding auxiliary feedback gain.Under the designed controller,the closed-loop system is positive and stochastically stable even if actuator faults occur.A cone is constructed as the invariant set of the systems.All conditions are solvable in terms of linear programming.Finally,two examples are provided to verify the effectiveness of the obtained results.

关键词： Non-fragile reliable control event-triggered mechanism positive Markovian systems linear programming

Tracking Control for Robot Manipulator Based on Deterministic Learning and event-triggered mechanism

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Tracking Control for Robot Manipulator Based on Deterministi...

event-triggered sliding mode control of linear repetitive processes and its application in metal rolling process

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作者： Min Wang Rui Hu Xuegang Xin Haotian Shi School of Automation Science and Engineering South China University of Technology School of Medicine South China University of Technology

In this paper, a control scheme is presented for robotic manipulator by combining deterministic learning and eventtriggered mechanism. Notice that the traditional adaptive neural control needs to re-adapt neural network（NN） weights even for performing the same control task, thereby result in the limited learning ability. To enhance the neural leaning ability, a dynamic learning controller is firstly constructed based on the radial basis function（RBF） NN, which has the ability to learn the knowledge of the unknown closed-loop system dynamics. By reusing the learned knowledge, the dynamic learning-based event-triggered control scheme is put forward to achieve a tradeoff between the network resource and the tracking performance. Specially, an easy-to-implemented event-triggered condition is designed by the Lyapunov technique due to the use of experience knowledge.The proposed scheme ensures that the tracking error converges to a small neighborhood of the origin, all the signals in the closedloop system are bounded and meanwhile the communication resources are greatly reduced. A comparison simulation example is conducted to demonstrate the effectiveness and advantage of the proposed control scheme.

关键词： Deterministic learning event-triggered mechanism adptive neural control robot manipulator

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Science China(Information Sciences) 2024年第3期67卷 167-181页

作者： Xinyu LV Yugang NIU James LAM Key Laboratory of Smart Manufacturing in Energy Chemical Process (East China University of Science and Technology) Ministry of Education Department of Mechanical Engineering The University of Hong Kong

This paper investigates the design problem of a sliding mode controller for linear repetitive processes(LRPs) with a finite pass length on each pass. Under limited communication resources, an eventtriggered mechanism is implemented from the sensors to the controller, whose triggered sequence is consistent with the evolution direction of LRPs. To periodically orchestrate communication between the controller and actuator, a round-robin scheduling mechanism is established based on the pass length. A sliding function involving the state and pass profile is constructed, and the sliding mode controller is designed using triggered states and pass profile signals. Feasible controller gains are attained to ensure the stability of the resultant closed-loop system. Finally, the proposed strategy is implemented for a multi-roll metal rolling process.

关键词： event-triggered mechanism linear repetitive processes metal rolling process round-robin scheduling sliding mode control

event-triggered distributed optimization for model-free multi-agent systems

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Frontiers of Information Technology & Electronic Engineering 2024年第2期25卷 214-224页

作者： Shanshan ZHENG Shuai LIU Licheng WANG College of Science University of Shanghai for Science and TechnologyShanghai200093China College of Automation Engineering Shanghai University of Electric PowerShanghai200090China

In this paper,the distributed optimization problem is investigated for a class of general nonlinear model-free multi-agent systems.The dynamical model of each agent is unknown and only the input/output data are available.A model-free adaptive control method is employed,by which the original unknown nonlinear system is equivalently converted into a dynamic linearized model.An event-triggered consensus scheme is developed to guarantee that the consensus error of the outputs of all agents is convergent.Then,by means of the distributed gradient descent method,a novel event-triggered model-free adaptive distributed optimization algorithm is put forward.Sufficient conditions are established to ensure the consensus and optimality of the addressed system.Finally,simulation results are provided to validate the effectiveness of the proposed approach.

关键词： Distributed optimization Multi-agent systems Model-free adaptive control event-triggered mechanism

event-triggered robust MPC of nonlinear cyber-physical systems against DoS attacks

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Science China(Information Sciences) 2022年第1期65卷 22-38页

作者： Qi SUN Jicheng CHEN Yang SHI Department of Mechanical Engineering University of Victoria

This paper proposes an event-triggered robust nonlinear model predictive control(NMPC) framework for cyber-physical systems(CPS) in the presence of denial-of-service(Do S) attacks and additive disturbances. In the framework, a new robustness constraint is introduced to the NMPC optimization problem in order to deal with additive disturbances, and a packet transmission strategy is designed for NMPC such that Do S attacks can be tackled. Then, an event-triggered mechanism, which accommodates Do S attacks occurring in the communication network, is proposed to reduce the communication cost for resource-constrained CPSs. Besides, we prove that the NMPC algorithm is recursively feasible and the closed-loop system is input-to-state practical stable under some sufficient conditions. Simulation examples and comparisons are conducted to show the effectiveness of the proposed NMPC algorithm.

关键词： cyber-physical systems nonlinear model predictive control event-triggered mechanism robust control denial-of-service attacks

event-triggered fault-tolerant consensus control with control allocation in leader-following multi-agent systems

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Science China(Technological Sciences) 2021年第4期64卷 879-889页

作者： WANG XingXia LIU ZhongXin CHEN ZengQiang College of Artificial Intelligence Nankai UniversityTianjin 300350China Key Laboratory of Intelligent Robotics of Tianjin Tianjin 300350China

event-triggered consensus in leader-following multi-agent systems with actuator fault is considered in this paper, in which the fault investigated can be multiplicative fault and outage fault. An event-triggered mechanism is utilized to relieve the communication burden of the interconnected system. Then, control allocation is proposed to solve actuator fault in the multi-agent systems for the first time. Compared with the existing fault-tolerant methods, the proposed method can guarantee that the consensus errors converge to zero asymptotically without the traditional rank assumption. Meanwhile, the Zeno behavior of the event-triggered system is proved to be avoided. Simulation results are also provided to verify the effectiveness of the proposed method.

关键词： multi-agent systems fault-tolerant control consensus event-triggered mechanism control allocation optimal

Observer-based event-triggered control for linear MASs under a directed graph and DoS attacks

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Journal of Control and Decision 2022年第3期9卷 384-396页

作者： Shuo-Qiu Zhang Wei-Wei Che Chao Deng College of the Institute of Complexity Science Shandong Key Laboratory of Industrial Control TechnologyQingdao UniversityQingdaoPeople’s Republic of China Institute of Advanced Technology Nanjing University of Posts and TelecommunicationsNanjingPeople’s Republic of China

In this paper,we investigate the observer-based event-triggered consensus problem for linear multi-agent systems(MASs)under a directed graph and denial-of-service(DoS)attacks.A type of DoS attacks launched by malicious attackers at irregular intervals is considered,which can cause communication channel disruption.A novel event-triggered secure control scheme based on a closed-loop observer is proposed to determine the scheduling of the controller update,and a separation method with less conservativeness is employed to design the controller and observer gains.Then,the frequency and duration of DoS attacks that can be tolerated are analysed for the observer-based secure consensus problem.In addition,a strictly positive minimal event-triggered time interval for each agent is designed with the help of the proposed eventtriggered condition to eliminate the Zeno behaviour.Finally,a numerical simulation is given to verify the theoretical analysis.

关键词： Directed graph DoS attacks event-triggered mechanism consensus control multi-agent systems

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 advanced.By virtue of a distributed sliding-mode estimator,the leader-following consensus control problem is converted into multiple simplified tracking control problems.Afterwards,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 instant.Meanwhile,the deferred asymmetric time-varying full state constraints are addressed by a class of asymmetric barrier Lyapunov function.In order to reduce the burden of communication,a relative threshold event-triggered mechanism is incorporated into controller and Zeno behavior is excluded.Based on Lyapunov stability theorem,all closed-loop signals are proved to be semi-globally uniformly ultimately bounded.Finally,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

Virtual target guidance-based distributed model predictive control for formation control of multiple UAVs

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Chinese Journal of Aeronautics 2020年第3期33卷 1037-1056页

作者： Zhihao CAI Longhong WANG Jiang ZHAO Kun WU Yingxun WANG School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100083China Flying College Beihang UniversityBeijing 100083China

The paper proposes a Virtual Target Guidance(VTG)-based distributed Model Predictive Control(MPC) scheme for formation control of multiple Unmanned Aerial Vehicles(UAVs).First, a framework of distributed MPC scheme is designed in which each UAV only shares the information with its neighbors, and the obtained local Finite-Horizon Optimal Control Problem(FHOCP) can be solved by swarm intelligent optimization algorithm.Then, a VTG approach is developed and integrated into the distributed MPC scheme to achieve trajectory tracking and obstacle avoidance.Further, an event-triggered mechanism is proposed to reduce the computational burden for UAV formation control, which takes into consideration the predictive state errors as well as the convergence of cost function.Numerical simulations show that the proposed VTG-based distributed MPC scheme is more computationally efficient to achieve formation control of multiple UAVs in comparison with the traditional distributed MPC method.

关键词： Distributed Model Predictive Control(MPC) event-triggered mechanism Formation control Obstacle avoidance Unmanned Aerial Vehicles(UAVs) Virtual Target Guidance(VTG)