IET Control Theory & Applications
Volume 11, Issue 16, 03 November 2017
Volumes & issues:
Volume 11, Issue 16
03 November 2017
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- Author(s): Milutin Petronijević ; Branislava Peruničić-Draženović ; Čedomir Milosavljavić ; Boban Veselić
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2671 –2679
- DOI: 10.1049/iet-cta.2016.1480
- Type: Article
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This work presents a comparative study of two approaches for design of high performance discrete-time velocity servo systems with induction motors (IMs). The first approach uses the conventional proportional–integral controller with one-step delayed disturbance compensator (OSDC). The OSDC is based on measurements of the control input and plant states. The second approach uses the discrete-time integral sliding mode (DISM) controller with a first-order disturbance compensator, which is based on switching function signal measurement only. The controlled plant, consisting of IM in the commonly used indirect field-oriented control (IFOC) scheme, is approximated by first-order dynamic model for control design purpose. Comparisons are conducted through simulations considering an ideal case (without unmodelled dynamics) and a regular one, using MATLAB/Simulink models of real IFOC structure elements. The experimental investigation is conducted as well. The performed tests show that both controllers enhanced with the corresponding disturbance compensators are suitable for high-performance control systems design if speed measurement is near noise-free case, with better performance from DISM. If Euler backward difference is applied for speed detection, both control systems need some retuning in order to make a compromise between chattering and tracking accuracy.
Discrete-time speed servo system design – a comparative study: proportional–integral versus integral sliding mode control
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- Author(s): Arash Golabi ; Nader Meskin ; Roland Tóth ; Javad Mohammadpour ; Tijs Donkers ; Mohammadreza Davoodi
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2680 –2687
- DOI: 10.1049/iet-cta.2017.0127
- Type: Article
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This study develops a novel event-triggered control design methodology for discrete-time dynamic systems characterised by linear parameter-varying (LPV) models. To this end, an event-triggering mechanism is first introduced for LPV systems aiming at reducing the data transmission of states, scheduling variables and controller outputs, i.e. at both the sensor and the controller nodes. Then, an event-based LPV state feedback controller is proposed to achieve a reference tracking objective. Sufficient conditions for simultaneous design of the controller parameters and event-triggering conditions are provided in terms of linear matrix inequality conditions to guarantee the stability of the closed-loop system and to track a desired step reference signal. The experimental results are finally presented to demonstrate and validate the properties and performance of the proposed control design approach on a laboratory tank system.
- Author(s): Elahe Moradi ; Mohammad Reza Jahed-Motlagh ; Mojtaba Barkhordari Yazdi
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2688 –2697
- DOI: 10.1049/iet-cta.2016.1390
- Type: Article
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This study investigates the problem of finite-time stabilisation for a class of switched linear systems with interval time-varying delay and parametric uncertainties. First, sufficient conditions for the finite-time stability of unforced switched systems are presented based on the average dwell time method and on the appropriate multiple Lyapunov-like functions that contain information regarding the lower and upper bounds of delay. A state feedback controller is then proposed for uncertain switched systems, with interval time-varying delay, which guarantees finite-time stabilisation of closed-loop systems. These conditions are formulated using a set of linear matrix inequalities and are dependent on the size of the time delay. Moreover, the criteria obtained are less conservative than some existing results because of the assumption of the upper bound of the derivative of the Lyapunov-like functions, without the neglect of any useful terms. Finally, two examples are provided to demonstrate the effectiveness of the proposed method. The first is a numerical example, and the second is a practical example involving river pollution control.
- Author(s): Xiao-Lei Wang and Guang-Hong Yang
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2698 –2706
- DOI: 10.1049/iet-cta.2017.0293
- Type: Article
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This study is concerned with the event-triggered fault detection (FD) filter design problem for the discrete-time non-linear systems with multi-data transmission and output quantisation. To reduce the transmission data size, the output signals are quantified by a logarithmic quantiser. Compared with the existing results, past output measurements are first introduced for packaging and transmission only when the event condition is satisfied. Based on this consideration, more data can be used by the FD filter, while using the traditional method, the FD filter can only use the current data. Finally, some simulation results show that the proposed design method can achieve a better FD performance than the existing method with current output measurements transmission.
- Author(s): Mohammad Amin Tajeddini ; Hamed Kebriaei ; Luigi Glielmo
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2707 –2715
- DOI: 10.1049/iet-cta.2016.1516
- Type: Article
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This study addresses a robust counterpart of the deterministic mean field control in a multi-agent system. A decentralised mean field algorithm is proposed to solve a min–max control problem for a large population of heterogeneous agents. In the proposed leader following scheme, the leader tracks a reference signal which is unknown to the followers and each follower tracks a convex combination of the population state average and the leader's state. The leader plays a robust min–max game against disturbance and the followers play a mean field -Nash game against each other and at the same time, each follower plays a robust min–max game against the disturbance. For all the players, finite horizon quadratic cost is considered. In the proposed decentralised algorithm, followers do not need the knowledge about each of leader's and other followers' states and they only use an estimate of the population state average. In this way, propose a policy iteration method which guarantees the convergence to the saddle point mean field -Nash solution. The proposed method is applied to a large population of agents and compared with centralised algorithm to demonstrate the results.
- Author(s): Xiaoru Niu ; Xianwen Gao ; Yongpeng Weng
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2716 –2723
- DOI: 10.1049/iet-cta.2017.0321
- Type: Article
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This study aims to investigate the sliding mode control (SMC) problem for non-linear Markovian jump systems (MJSs) in which the transition probability could only be partly obtained and the system models and orders are unknown. Firstly, a mode-dependent data-driven sliding surface is established and by using the high-order SMC strategy, a data-based SMC law is proposed to guarantee the reachability of the SMC system. With the linear matrix inequalities technique, the tracking error of the closed-loop non-linear MJS is demonstrated to be asymptotically stochastically stable. Furthermore, a simulation experiment is carried out to prove the effectiveness of this method.
- Author(s): Navid Vafamand ; Mohammad-Mehdi Mardani ; Alireza Khayatian ; Mokhtar Shasadeghi
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2724 –2730
- DOI: 10.1049/iet-cta.2017.0096
- Type: Article
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This study proposes a novel sum of squares (SOS) decomposition-based constrained guaranteed cost function controller for polynomial systems. The sufficient non-linear controller design conditions are derived such that an upper bound of a quadratic cost function subjected to the input amplitude constraint is minimised and asymptotic stability of the polynomial system is guaranteed. First, the constrained optimisation problem is formulated by an alternative unconstrained optimisation problem with the vanishing disturbance input. Then, by considering the S-procedure, the sufficient conditions are derived in terms of SOS decomposition. The main novelty of this study is that the stability issue of input saturated polynomial systems together with the non-linear control law is considered. In addition, the other advantage of this approach over the recently guaranteed cost controller design methods is that the proposed conditions can be solved without any iterative techniques. Finally, to show the effectiveness of the proposed approach, it is applied to a piezoelectrically actuated clamped–clamped micro-beam system and the results are compared with those of existing ones.
- Author(s): Mehdi Hosseinzadeh and Mohammad Javad Yazdanpanah
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2731 –2742
- DOI: 10.1049/iet-cta.2017.0459
- Type: Article
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Considering the effect of actuator saturation, a control design approach is presented for open-loop unstable affine non-linear systems. A feedback control law with some degrees of freedom along with a virtual output function is utilised to make the system passive. In order to achieve a fast convergence, an analytical discussion is presented to opt for the free parameters. The procedure is further developed for systems with unknown parameters, where some adaptation laws are utilised for parameter estimation. In order to enhance the convergence performance, the gains of the adaptation laws are obtained based on sensitivity analysis. Using projection technique to prevent parameter drift, it is analytically shown that the proposed scheme is robust against bounded disturbances. The effectiveness of the proposed controller is assessed through extensive simulations.
- Author(s): Chong-Xiao Shi ; Guang-Hong Yang ; Xiao-Jian Li
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2743 –2752
- DOI: 10.1049/iet-cta.2017.0356
- Type: Article
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This study is concerned with the robust adaptive backstepping control for hierarchical multi-agent systems with signed weights and non-linear system uncertainties. The considered network model is divided into several levels, and the corresponding Laplacian matrix in each level may be non-positive definiteness due to the existence of signed weights, which can lead to the instability of the whole system. To solve this problem, two definitions on recovery Laplacian and controlled Laplacian are firstly introduced, and by combining with a novel graph theoretical result, an effective robust backstepping control scheme is then developed to ensure the stability of hierarchical multi-agent systems. In particular, this study is a generalisation of the prior works with non-negative weights. Finally, an example on hierarchical multi-vehicle systems is given to demonstrate the validity of the proposed method.
- Author(s): J. Zhou
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2753 –2760
- DOI: 10.1049/iet-cta.2016.1578
- Type: Article
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This paper proposes stability criteria claimed in complex domains for dynamical systems that are described by fractional commensurate order linear time-invariant (FCO-LTI) state-space equations (thus endowed with FCO transfer functions) by means of the argument principle in complex analysis. Based on appropriate Cauchy integral contours or their shifting ones, the stability conditions are necessary and sufficient, without inter-domain transformation and independent of pole/eigenvalue computing and distribution testing. The proposed criteria are implementable graphically with locus plotting as using Nyquist-like criteria or numerically without locus plotting. The criteria apply to a variety of FCO-LTI systems, which can be single and multiple in fractional calculus, scalar and multivariable in input/output dimensionality. The criteria can also be exploited in regular-order systems without modification. Case studies are included to illustrate the main results.
- Author(s): Sebastien Cauet ; Erik Etien ; Laurent Rambault
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2761 –2771
- DOI: 10.1049/iet-cta.2017.0007
- Type: Article
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This research concerns the vibration reduction transmitted by the thermal engine to the drivetrain. In the context of a hybrid electric vehicle, the use of an electric synchronous machine, more specifically a permanent magnet synchronous machine, is recommended to partly ensure vehicle propulsion but also to mitigate the torque pulsations generated by the engine. Most strategies using this propulsion method require a very accurate position sensor. However, instead of using a sensor, this research proposes the use of a position/speed observer. This approach is combined with linear parameter varying control to guarantee consistent performance during speed transients. Thus, this strategy does not use additional hardware for a hybrid drive and consumes very little additional electrical energy (excluding the electrical losses in the motor and the inverter). These methods are illustrated within the context of an urban trip and clearly show the effectiveness of the proposed approach.
- Author(s): Chiara Mellucci ; Prathyush P. Menon ; Christopher Edwards ; Antonella Ferrara
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2772 –2782
- DOI: 10.1049/iet-cta.2017.0249
- Type: Article
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This study proposes a two-sliding mode (SM) observer to detect and reconstruct a certain class of load altering faults in a power network. The observer design is based on the recently proposed multivariable super-twisting structure. The IEEE benchmark power networks used to test the scheme are modelled as a semi-explicit class of differential algebraic equations (DAEs). For the purpose of developing the detection scheme, only the phase angles of the generators are measured, which represent a subset of the differential states of the DAEs. The objective is to estimate the differential states (the phase angles and frequencies of the generators), the algebraic states (the phase angles of the load bus tensions) and to reconstruct a class of load altering faults affecting the network. The proposed observer is assessed in simulation on two IEEE benchmarks: the 9-bus and 14-bus networks, so as to verify its capability to correctly estimate the differential and algebraic states of the network in spite of its complexity and uncertainty. Moreover, the capability of the proposed scheme to detect the presence of a load altering fault, to exactly identify its position in the network, and to precisely reconstruct the shape of the fault itself is shown and discussed.
- Author(s): Yoshio Ebihara ; Dimitri Peaucelle ; Denis Arzelier
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2783 –2792
- DOI: 10.1049/iet-cta.2017.0315
- Type: Article
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This study is concerned with the analysis and synthesis of delay interconnected positive systems. For delay-free cases, it has been shown very recently that the output of the interconnected positive system converges to a positive scalar multiple of a prescribed positive vector under mild conditions on positive subsystems and a non-negative interconnection matrix. This result is effectively used for formation control of multi-agent systems with positive dynamics. The goal of this study is to prove that this steady-state property is essentially preserved under any constant (and hence bounded) communication delay. In the context of formation control, this preservation indicates that the desired formation is achieved robustly against communication delays, even though the resulting formation is scaled depending on initial conditions for the state. To ensure the achievement of the steady-state property, the authors need to prove rigorously that the delay interconnected positive system has stable poles only except for a pole of degree one at the origin, even though it has infinitely many poles, in general. For the rigorous proof, we newly develop frequency-domain (s-domain) analysis for delay interconnected positive systems, which has not been studied for delay-free cases.
- Author(s): Xiushan Cai ; Lingxin Meng ; Cong Lin ; Wei Zhang ; Leibo Liu
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2793 –2800
- DOI: 10.1049/iet-cta.2017.0318
- Type: Article
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The authors investigate input-to-state stabilisation for a general non-linear system with input delay and disturbance. With an infinite-dimensional backstepping transformation, the original system is transferred to a target system. A delay-compensating and disturbances attenuating control law is designed for this kind of non-linear systems. Stability of the target system is first proved by constructing a Lyapunov functional. Equivalence of norms for original and target system is deduced. Further, input-to-state stabilisation for the original system under the delay-compensating control law is drawn.
- Author(s): Ke Zhang ; Bin Jiang ; Vincent Cocquempot
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2801 –2807
- DOI: 10.1049/iet-cta.2017.0484
- Type: Article
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A distributed fault estimation observer (DFEO) design is studied for multi-agent systems with switching topologies. Firstly, a local fault estimation observer is presented for each agent system based on the relative output estimation error. Then by introducing global variables, a global fault estimation observer is proposed by utilising the average dwell-time technique. Furthermore, a dissipativity-based distributed observer is presented to handle external disturbances. Finally, simulation results are presented to illustrate the feasibility and effectiveness of the proposed DFEO strategy.
- Author(s): Ling Zhao ; Bin Zhang ; Hongjiu Yang ; Yingjie Wang
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2808 –2816
- DOI: 10.1049/iet-cta.2017.0327
- Type: Article
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In this study, a non-singular fast terminal sliding mode finite-time tracking control strategy is presented to improve response rapidity and control precision of a pneumatic servo system via an extended state observer. The extended state observer is designed to estimate total disturbances of the system. Moreover, the proposed controller is established to ensure good performances of the closed-loop system. In addition, both sufficiently small observation error and stabilisation of the closed-loop system are proved in finite time. Finally, experimental results show the effectiveness of the proposed method.
- Author(s): Hangfeng He ; Gao Xianwen ; Wenhai Qi
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2817 –2823
- DOI: 10.1049/iet-cta.2017.0521
- Type: Article
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This study deals with switched non-linear systems subject to sampled-data control. The states and switching signals of controllers in this study are both considered to be sampled. The corresponding closed-loop systems are modelled as asynchronously switched T–S fuzzy systems with time-varying delay. Based on asynchronous switching approach and time-varying delay approach, the state feedback controllers are designed in terms of a strict linear matrix inequality. Moreover, the switching strategy is studied to guarantee the exponential stability of the systems. Finally, a numerical example is given to illustrate the effectiveness of the proposed method.
- Author(s): Zhe Li and Guang-Hong Yang
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2824 –2833
- DOI: 10.1049/iet-cta.2017.0214
- Type: Article
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In this study, a data-driven adaptive fault-tolerant control (FTC) scheme is proposed for a class of linear discrete-time multiple-input and multiple-output systems. With the unknown system model, the nominal controller with an observer-based residual generator is first developed based on the system input and output (I/O) data in the fault-free case; in the faulty case, the fault tolerant compensation mechanism is designed based on the model-free adaptive control method. Compared to the existing data-driven FTC methods, the number of the fault-tolerant tuning parameters in this study is determined by the system I/O dimensions instead of arbitrarily defined, which may lead to fewer tuning parameters with satisfactory performance. The effectiveness of the proposed scheme is illustrated by two simulation examples.
- Author(s): Kuppusamy Subramanian ; Palanisamy Muthukumar ; Quanxin Zhu
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2834 –2847
- DOI: 10.1049/iet-cta.2017.0503
- Type: Article
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In this study, the exponential stability problem of impulsive system is investigated via sampled-data control in the presence of random time-varying delays and non-linear perturbations. In particular, the time delays are considered to be randomly time varying and they obey the Bernoulli distributions. The authors' main attention is focused on the design of a sampled-data controller to ensure an exponential stability for the closed-loop system. By extending the first- and second-order reciprocal convex approach, an efficient method called third-order reciprocal convex technique is used to manipulate the main results. Through the construction of a suitable Lyapunov–Krasovskii functional combined with input delay approach and Briat lemma, several delay-dependent sufficient conditions for the concerned system are derived in the form of linear matrix inequalities which can be readily solved by utilising the valid software packages. Some numerical examples are given to illustrate the effectiveness of the developed control technique.
- Author(s): Xin-Chun Jia ; Weiwei Ma ; Fuwen Yang ; Dawei Zhang
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2848 –2857
- DOI: 10.1049/iet-cta.2017.0039
- Type: Article
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This study deals with the observer-based controller design problem for a class of networked control systems with multirate sampling. A matching mechanism is proposed to synchronise the sampled data between the plant and an observer, and computes the corresponding error. Using the error, the multirate observer is developed to estimate the state of the system in real time. A state feedback controller based on the observer is utilised to control the system. Different from discrete-time modelling methods, the resulting closed-loop system is modelled as a continuous-time system with multiple sawtooth input-delays. Inspired by Wirtinger's inequality, a new Lyapunov–Krasovskii functional is constructed to analyse efficiently the closed-loop system in the presence of time-varying network-induced delays. Then sufficient conditions for performance analysis and the observer-based controller design are presented. Finally, two illustrative examples show the effectiveness of the proposed method.
- Author(s): Tahereh Gholaminejad ; Ali Khaki-Sedigh ; Peyman Bagheri
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2858 –2869
- DOI: 10.1049/iet-cta.2016.1174
- Type: Article
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A direct adaptive tuning strategy is proposed for model predictive controllers. Parameter tuning is essential for a satisfactory control performance. Various tuning methods are proposed in the literature which can be categorised as heuristic, numerical and analytical methods. The proposed tuning methodology is based on an analytical model predictive control tuning approach for plants described by first-order plus dead time models. For a fixed tuning scheme, the tuning performance deteriorates in dealing with unknown or time varying plants. To overcome this problem, an adaptive tuning strategy is utilised. It is suggested to employ a discrete-time model reference adaptive control with recursive least squares estimations for controller tuning. The proposed method is also extended to multivariable systems. The stability and convergence of the proposed strategy is proved using the Lyapunov approach. Finally, simulation and experimental studies are used to show the effectiveness of the proposed methodology.
- Author(s): Mohammad Hossein Roohi ; Iman Izadi ; Jafar Ghaisari
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2870 –2878
- DOI: 10.1049/iet-cta.2017.0272
- Type: Article
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Event-triggered control (ETC) is a control strategy in which the control algorithm is executed only when a specific condition is satisfied. Many contributions have been proposed in the ETC literature to reduce the amount of data sent over a communication network. One of the main goals in these methods is reduction of the network bandwidth usage. In this study, a method is proposed to design ET controller which guarantees stability as well as a higher bound on bandwidth requirement. Moreover, the effect of control system on the maximum delay of communication link is explained. Mathematical expression of this effect is presented based on network calculus rules. This yields a method for off-line fair allocation of bandwidth. Furthermore, a new method is proposed to design a robust controller for norm-bounded uncertainty which stabilises the control system and guarantees the bandwidth usage and consequently the network delay. To illustrate the effectiveness of the proposed methods, a case study based on the IEEE 802.15.4 protocol is presented which shows the relationship of controller parameters, network parameters, and the delay.
Event-triggered constant reference tracking control for discrete-time LPV systems with application to a laboratory tank system
LMI-based criteria for robust finite-time stabilisation of switched systems with interval time-varying delay
Event-based fault detection for non-linear networked systems with multi-data transmission and output quantisation
Robust decentralised mean field control in leader following multi-agent systems
Data-driven sliding mode tracking control for unknown Markovian jump non-linear systems
Non-iterative SOS-based approach for guaranteed cost control design of polynomial systems with input saturation
Robust adaptive passivity-based control of open-loop unstable affine non-linear systems subject to actuator saturation
Robust adaptive backstepping control for hierarchical multi-agent systems with signed weights and system uncertainties
Complex-domain stability criteria for fractional-order linear dynamical systems
Mechanical sensorless LPV torque ripple control of hybrid electric vehicle
Second-order sliding mode observers for fault reconstruction in power networks
Steady-state analysis of delay interconnected positive systems and its application to formation control
Input-to-state stabilisation for a general non-linear system with time-varying input delay
Distributed fault estimation observer design for multi-agent systems with switching topologies
Finite-time tracking control for pneumatic servo system via extended state observer
Sampled-data control of asynchronously switched non-linear systems via T–S fuzzy model approach
Data-driven adaptive fault-tolerant control for a class of multiple-input–multiple-output linear discrete-time systems
Exponential stability of impulsive systems with random delays under sampled-data control
Matching mechanism for networked control systems with multirate sampling
Direct adaptive model predictive control tuning based on the first-order plus dead time models
Bandwidth allocation, delay bound analysis, and controller synthesis for event-triggered control systems
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- Author(s): Fangcui Jiang ; Dongmei Xie ; Mengtao Cao
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2879 –2885
- DOI: 10.1049/iet-cta.2016.1515
- Type: Article
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This study involves an examination of the dynamic consensus problem for networks of double-integrator agents with aperiodic impulsive protocol and fixed topology. With respect to each agent, the control law is designed based on relative state measurements (i.e. position and velocity) between the agent and the neighbouring agents at a few discrete times. Additionally, these state measurements can include time-varying measurement delays. The theory of impulsive differential equations is used to prove that the dynamic consensus can be achieved under the condition of a graph with a spanning tree and to provide the consensus state finally reached by all agents. Furthermore, the study establishes algebraic inequalities that should be satisfied by the control gains, the bounds of impulsive interval lengths, and the upper bound of delays. Two numerical examples are illustrated to validate the main results.
- Author(s): Zhiguo Yan ; Weihai Zhang ; Ju H. Park ; Xiaoping Liu
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2886 –2892
- DOI: 10.1049/iet-cta.2016.1665
- Type: Article
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This study is concerned about the quantitative exponential stability (QES) and stabilisation of discrete-time Markov jump systems with multiplicative noises. First, the defects of exponential stability in practical applications are analysed. Based on this analysis, a concept of the QES is given, and two stability criteria are derived. By utilising an auxiliary definition of general finite-time stability (GFTS), the relations among QES, GFTS and finite-time stability are established. Moreover, the quantitative exponential stabilisation is studied, and state feedback controller and the observer-based controller are designed. Subsequently, the relation between the states' upper bound and states' decay rate of considered systems is quantitatively shown by a searching method. Finally, an example is used to illustrate the effectiveness of the authors' obtained results.
- Author(s): Jie Lian ; Can Li ; Dan Liu
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2893 –2899
- DOI: 10.1049/iet-cta.2017.0028
- Type: Article
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This study investigates the input-to-state stability (ISS) for a class of discrete-time non-linear switched singular systems. Two novel ISS criteria are proposed based on multiple Lyapunov functions method. In one case that all subsystems are input-to-state stable (ISS) but the system stability may be destroyed by the switching, the average dwell time switching algorithm is applied to guarantee the ISS of the whole system. In other case that all subsystems can be unstable, the state-dependent switching rule is designed to stabilise the system and ensure the ISS of the switched singular system. Finally, simulation examples are provided to illustrate the feasibility of the obtained results.
- Author(s): Yi Huang and Yingmin Jia
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2900 –2909
- DOI: 10.1049/iet-cta.2017.0304
- Type: Article
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This paper is devoted to the fixed-time consensus tracking control for second-order multi-agent systems with bounded input uncertainties under a weighted directed topology. Firstly, a novel non-singular fixed-time fast terminal sliding mode (NFFTSM) surface with bounded convergence time in regardless of the initial states is designed, and the explicit expression of the settling time is provided. Fair and unprejudiced comparisons show that the proposed NFFTSM has faster convergence performance than most typical terminal sliding modes in the existed results. Subsequently, by employing the proposed NFFTSM, a non-singular fixed-time distributed control protocol for second-order multi-agent systems is designed, which only requires one-hop information of the neighbours without the global topology information and has the advantage of fast convergence performance both in the reaching phase and sliding phase. Rigorous proofs show that the fixed-time consensus tracking control for second-order multi-agent systems can be guaranteed by the proposed distributed control protocol. Finally, numerical simulations are performed to demonstrate the effectiveness of the proposed control scheme.
- Author(s): Birong Zhao ; Yunjian Peng ; Feiqi Deng
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2910 –2915
- DOI: 10.1049/iet-cta.2016.1638
- Type: Article
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This study deals with the consensus tracking problem for general linear multi-agent systems driven by Brownian motion. A directed graph is used to represent the communication topology of the multi-agent network. To solve the consensus tracking problem, an innovative concept of the sub-reachability of the sliding motion to approach approximately the specified sliding surface is introduced. Under the concept of sub-reachability, the sliding mode variable structure consensus tracking protocol is synthesised to guarantee the sub-reachability of the sliding motion in a finite time. By using the auxiliary function method and stochastic It integrals techniques with respect to Brownian motion, a sufficient condition for mean square asymptotic consensus tracking is derived. In particular, the consensus tracking criteria are very concise and can be implemented easily. Finally, a simulation example is utilised to illustrate the usefulness of the proposed control protocol.
- Author(s): Augusto Ferrante and Lorenzo Ntogramatzidis
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2916 –2920
- DOI: 10.1049/iet-cta.2017.0314
- Type: Article
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Passivity theory and the positive real lemma have been recognised as two of the cornerstones of modern systems and control theory. As digital control is pervasive in virtually all control applications, developing a general theory on the discrete-time positive real lemma appears to be an important issue. While for minimal realisations the relations between passivity, positive-realness and existence of solutions of the positive real lemma equations is very well understood, it seems fair to say that this is not the case in the discrete-time case, especially when the realisation is non-minimal and no conditions are assumed on left- and/or right-invertibility of the transfer function. The purpose of this study is to present a necessary and sufficient condition for existence of solutions of the positive real equations under the only assumption that the state matrix A is asymptotically stable.
- Author(s): Zidong Ai and Lianghong Peng
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2921 –2926
- DOI: 10.1049/iet-cta.2017.0483
- Type: Article
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In this study, the authors investigate the stabilisation issue for a class of multi-module impulsive switched linear systems in terms of a periodic impulsive switching scheme. First, they establish a necessary and sufficient criteria on periodically exponentially (PE) stabilising the involved system. Then, they derive some effective asymptotic stabilisation and input-to-state stabilisation results using the method of construction. To improve the system performance, they solve an optimisation problem that determines the minimal period of stabilisable impulsive switching signals. Finally, a numerical example with two unstable subsystems is provided to illustrate the validity of the method.
- Author(s): Kai Duan ; Yunze Cai ; Xing He ; Weidong Zhang
- Source: IET Control Theory & Applications, Volume 11, Issue 16, p. 2927 –2937
- DOI: 10.1049/iet-cta.2016.1412
- Type: Article
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This study addresses the networked control problem for event-triggered systems with quantisation effect and actuator fault. A new type of finite-level dynamic logarithmic quantiser is proposed here. Firstly, when the actuator is subjected to deterministic fault and time delay occurs in the network between the sensor and the controller, stability analysis and stabilisation of the system are accomplished. Secondly, suppose the actuator is subjected to stochastic fault and there is packet dropout in the network between the sensor and the controller, the asymptotic stability of the system is analysed, and a mean-square feedback controller is designed. Finally, simulation studies are made to verify the effectiveness of the presented method.
Dynamic consensus of double-integrator multi-agent systems with aperiodic impulsive protocol and time-varying delays
Quantitative exponential stability and stabilisation of discrete-time Markov jump systems with multiplicative noises
Input-to-state stability for discrete-time non-linear switched singular systems
Fixed-time consensus tracking control for second-order multi-agent systems with bounded input uncertainties via NFFTSM
Consensus tracking for general linear stochastic multi-agent systems: a sliding mode variable structure approach
Solvability conditions for the positive real lemma equations in the discrete time
Exponential stabilisation of impulsive switched linear systems via a periodic switching scheme
On finite-level dynamic quantisation of event-triggered networked systems with actuator fault
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