Online ISSN
1751-8652
Print ISSN
1751-8644
IET Control Theory & Applications
Volume 6, Issue 4, 1 March 2012
Volumes & issues:
Volume 6, Issue 4
1 March 2012
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- Author(s): L.-L. Fan and Y.-D. Song
- Source: IET Control Theory & Applications, Volume 6, Issue 4, p. 475 –486
- DOI: 10.1049/iet-cta.2011.0250
- Type: Article
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p.
475
–486
(12)
This work investigates the model-following control problem associated with a class of non-linear systems in the presence of modelling uncertainties and actuator failures. The particular interest lies in the development of designer-friendly and cost-effective control scheme. By combining model-reference mechanism with robust adaptive radial basis function (RBF) neural network (NN), several control algorithms are derived without the need for precise system parameters or analytical-bound estimation on actuator failure variables. It is shown that the developed control algorithms are structurally simple and computationally inexpensive. Application of the proposed strategies to individual pitch control of wind turbines is also addressed. Formative stability analysis and numerical simulation on severe failure scenarios confirm the effectiveness of the proposed methods. - Author(s): B. Xu ; F. Sun ; H. Liu ; J. Ren
- Source: IET Control Theory & Applications, Volume 6, Issue 4, p. 487 –497
- DOI: 10.1049/iet-cta.2011.0026
- Type: Article
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p.
487
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(11)
In this study, the adaptive Kriging controller is investigated for the longitudinal dynamics of a generic hypersonic flight vehicle. For the altitude subsystem, the dynamics are transformed into the strict-feedback form where the back-stepping scheme is used. The velocity subsystem is transformed into the output-feedback form. Considering the non-linearity of the dynamics, the nominal feedback is included in the controller while Kriging system is used to estimate the uncertainty, which is described as the realisations of Gaussian random functions. To eliminate the infinite increase of the data size, the recursive Kriging algorithm is adopted in this study. Under the proposed controller, the almost surely bounded stability analysis is presented. The simulation study compared with neural back-stepping control is presented to show the effectiveness of the proposed control approach. - Author(s): H. Huang ; D. Li ; Y. Xi
- Source: IET Control Theory & Applications, Volume 6, Issue 4, p. 498 –505
- DOI: 10.1049/iet-cta.2011.0187
- Type: Article
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p.
498
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In this study, the authors address the problem of the mixed H2/H∞ robust model predictive control (RMPC) for a class of discrete-time systems with structured uncertainty and disturbances. The conditions of RMPC are given to satisfy both the H2 and H∞ performance requirements. In order to reduce the conservativeness caused by an unique feedback control law, a multi-step control strategy is introduced to improve the control performance and enlarge the feasible region of RMPC. Furthermore, an efficient version of the proposed RMPC is also given to reduce the online computational burden, which makes the design more practical. The proposed RMPCs are proven to be input-to-state practically stable (ISpS). A numerical example illustrates the effectiveness of the proposed designs. - Author(s): Y. Ariba ; F. Gouaisbaut ; S. Rahme ; Y. Labit
- Source: IET Control Theory & Applications, Volume 6, Issue 4, p. 506 –517
- DOI: 10.1049/iet-cta.2009.0477
- Type: Article
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p.
506
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(12)
The use of the control theory tools for traffic control in communication networks, for example, the congestion control in internet protocol (IP) routers, has given rise to challenging issues in the time-delay system framework. In this study, the authors propose to design a linear time-delay observer for traffic monitoring in transmission control protocol/active queue management (TCP/AQM) networks. More precisely, the authors focus on a bottleneck topology consisting of long-lived TCP communications through a router. The developed mechanism, located at the router, aims at supervising the network via TCP flow estimations as well as detecting a class of anomalies. This issue is formulated as a stability problem for multiple delayed systems and appropriate robust control tools such as quadratic separation are adopted to address it. Then, some simulations via the network simulator NS-2 and an emulation experiment support the proposed methodology. - Author(s): Y. Wang ; W. Yan ; J. Li
- Source: IET Control Theory & Applications, Volume 6, Issue 4, p. 518 –525
- DOI: 10.1049/iet-cta.2011.0354
- Type: Article
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p.
518
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This study addresses the problem of steering a group of autonomous underwater vehicles along specified paths while keeping a desired spatial formation. The authors show how passivity-based techniques and consensus tracking theories are brought together to yield a distributed control strategy, by which the problems existing in current literature that a common reference velocity signal being available to all cooperating vehicles are explicitly extended. The desired coordinated behaviour is achieved by means of consensus on the velocity of path parameter of a virtual dynamic leader. The stability of the overall closed-loop system is analysed mathematically by adopting nested Matrosov theorem. To demonstrate the controller proposed, simulations results are presented and discussed. - Author(s): E. Iyasere ; M. Salah ; D. Dawson ; J. Wagner ; E. Tatlicioglu
- Source: IET Control Theory & Applications, Volume 6, Issue 4, p. 526 –532
- DOI: 10.1049/iet-cta.2010.0689
- Type: Article
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526
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In this study, an optimum seeking-based robust non-linear controller is proposed to maximise wind energy captured by variable speed wind turbines at low-to-medium wind speeds. The proposed strategy simultaneously controls the blade pitch angle and tip-speed ratio, through the turbine rotor angular speed, to an optimal point at which the power coefficient, and hence the wind turbine efficiency, is maximum. The optimal points are given to the controller by an optimisation algorithm that seeks the unknown optimal blade pitch angle and rotor speed. The control method allows for aerodynamic rotor power maximisation without exact knowledge of the wind turbine model. A representative numerical simulation is presented to show that the wind turbine can be accurately controlled to achieve maximum energy capture. - Author(s): S. Hu ; Y. Zhang ; Z. Du
- Source: IET Control Theory & Applications, Volume 6, Issue 4, p. 533 –544
- DOI: 10.1049/iet-cta.2011.0055
- Type: Article
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533
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In this study, H∞ tracking control design for a class of networked control systems (NCSs) with event-triggering sampling scheme is investigated. First, a novel event-triggering sampling scheme is proposed. Next, considering the network-induced delays and using such a triggering scheme together with delay system approach, a new tracking model of NCSs is established. Attention is focused on the design of H∞ controller that guarantees the prescribed H∞ tracking performance of the closed-loop-networked tracking system. Two approaches are developed to solve this problem, based on continuous Lyapunov function and discontinuous Lyapunov function, respectively. Moreover, the obtained results are further extended to the case that the system matrices of the plant contain parameter uncertainties, represented in either norm-bounded or polytopic forms. Finally, an illustrative example is presented to show the usefulness and applicability of the propose method. - Author(s): Z. Wang and J. Cao
- Source: IET Control Theory & Applications, Volume 6, Issue 4, p. 545 –551
- DOI: 10.1049/iet-cta.2011.0198
- Type: Article
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p.
545
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This study analyses the quasi-consensus of second-order leader-following multi-agent systems in four cases: (i) a disconnected undirected graph; (ii) a connected undirected graph; (iii) a digraph with a spanning tree; (iv) a strong connected digraph. We prove that all quasi-consensus are achieved asymptotically in four cases. In other words, all agents follow the virtual leader at the same velocity and keep a distance from the leader. Furthermore, an unified result of the four cases is given. It is notable that the leader plays a key role in the first case and the third case. At last, some examples and simulations are given to verify the above theoretical results. - Author(s): F.-K. Yeh
- Source: IET Control Theory & Applications, Volume 6, Issue 4, p. 552 –559
- DOI: 10.1049/iet-cta.2011.0227
- Type: Article
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p.
552
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This approach addresses an adaptive-sliding-mode guidance law for missiles equipped with thrust vector control and divert control system, for the task of intercepting of a theatre ballistic missile with manoeuvring acceleration. The aim of the present study is to achieve a bounded target interception under the three degrees of freedom (DOF) control and the zero-effort-miss phase to improve the intercepting accuracy of the missile by narrowing the distance between the intercepting missile and the target missile to within effective range for triggering the missile’s explosion. Considering the external disturbances and the variation in the missile’s mass, the 3 DOF adaptive-sliding-mode guidance law is designed using adaptive control and sliding-mode control to minimise the distance between the centre of the intercepting missile and that of the target missile asymptotically. Also, the overall system stability is verified using the Lyapunov stability theory. Furthermore, successful simulation results are conducted to validate the effectiveness of the proposed adaptive-sliding-mode guidance law. - Author(s): X. Luo ; D. Liu ; X. Guan ; S. Li
- Source: IET Control Theory & Applications, Volume 6, Issue 4, p. 560 –569
- DOI: 10.1049/iet-cta.2011.0135
- Type: Article
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p.
560
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In this study, the authors investigate the problem of flocking motion combined with topology optimisation for mobile multi-agent systems. In most of the recent literatures, all agents are assumed to be informed of target's information for all time to maintain connectivity. Actually, it is not essential to make all agents be informed. In this study, the authors present a distributed topology optimisation scheme to reduce the communication complexity of keeping connectivity while the multi-agent system pursuits a virtual target. This optimisation scheme is performed in the discrete space of graphs and relies on two key ideas. First, it generates optimally rigid graphs for each agent with its neighbouring flockmates. Second, partial agents are selected as the informed units to maintain the connectivity of the multi-agent system. Based on this scheme, the authors propose a distributed motion controller to make the mobile agents result in flocking behaviour. Applying the proposed algorithms, it is shown that the communication energy dissipation of the networked system is decreased. Stability analysis is further achieved by using differential conclusions and non-smooth analysis in switching topology. Numerical simulation examples demonstrate the effectiveness of the proposed algorithms.
Neuro-adaptive model-reference fault-tolerant control with application to wind turbines
Adaptive Kriging controller design for hypersonic flight vehicle via back-stepping
Design and input-to-state practically stable analysis of the mixed H2/H∞ feedback robust model predictive control
Traffic monitoring in transmission control protocol/active queue management networks through a time-delay observer
Passivity-based formation control of autonomous underwater vehicles
Optimum seeking-based non-linear controller to maximise energy capture in a variable speed wind turbine
Network-based H∞ tracking control with event-triggering sampling scheme
Quasi-consensus of second-order leader-following multi-agent systems
Adaptive-sliding-mode guidance law design for missiles with thrust vector control and divert control system
Flocking in target pursuit for multi-agent systems with partial informed agents
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- Author(s): C.-Y. Kao and R. Pasumarthy
- Source: IET Control Theory & Applications, Volume 6, Issue 4, p. 570 –577
- DOI: 10.1049/iet-cta.2011.0076
- Type: Article
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p.
570
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Sufficient conditions are derived for checking whether interconnected port-Hamiltonian systems are stable in the presence of time delays. It is assumed that the time delay parameters are unknown time-varying functions for which the only available information is about the upper bounds on their magnitude and/or variation. The stability conditions proposed here are established by constructing Lyapunov–Krasovskii stability certificates, based on the Hamiltonians of the individual port-Hamiltonian systems. The forms of the Lyapunov–Krasovskii functionals vary according to the information available on the delay parameter. It is shown how different informations on the delay are utilised to construct stability certificates. - Author(s): A.R. Mehrabian ; S. Tafazoli ; K. Khorasani
- Source: IET Control Theory & Applications, Volume 6, Issue 4, p. 578 –587
- DOI: 10.1049/iet-cta.2010.0571
- Type: Article
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p.
578
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In this study, a reconfigurable control strategy is proposed for state synchronisation and tracking control of networked (electro-) mechanical Euler–Lagrange (EL) systems that are subject to input saturation constraints that may arise as a result of actuator faults or failures. The reconfigurable controller consists of three main parts. The first part, denoted as the constrained ‘nominal’ controller, is a distributed controller that is employed to guarantee global stability of the multi-agent-networked EL system provided that certain mild connectivity conditions are satisfied in the absence or presence of actuator saturation constraints. The second part, denoted as the constrained ‘reconfigured’ controller, is a non-linear smooth distributed controller that has a different structure and gains from the constrained nominal controller. This controller can preserve the overall control objectives in the presence of actuator faults and actuator saturation constraints. The third part is a switching strategy between the constrained nominal and the constrained reconfigured controllers. Global stability as well as asymptotic convergence of the synchronisation and the tracking errors to origin for switchings under certain conditions between the constrained nominal and the constrained reconfigured controllers with non-vanishing dwell-times for a fixed network topology are shown to be guaranteed. Simulation results of a network of three robotic manipulators are reported to demonstrate and validate the merits of the proposed controllers. - Author(s): Z. Li ; J. Chen ; G. Zhang ; M. Gan
- Source: IET Control Theory & Applications, Volume 6, Issue 4, p. 588 –595
- DOI: 10.1049/iet-cta.2010.0189
- Type: Article
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p.
588
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This study concentrates on the stabilising tracking problem of a class of switched non-linear systems in semi-strict feedback form with parametric and non-linear uncertainties. The switching signal is arbitrary and occurs on the known non-linear functions. To solve the tracking problem, a switched adaptive robust dynamic surface control approach is proposed. The continuous error signals are constructed using the dynamic surface control approach, so the switched error dynamics is obtained. Then, semi-global stability analysis is discussed by using the common Lyapunov function method, which shows that the solutions of the closed-loop system are uniformly ultimate bounded and the tracking error can be prescribed arbitrarily small. A numerical example is provided to illustrate the effectiveness of the proposed control method. - Author(s): Y. Wang ; Y. Zhang ; F. Sun ; H. Liu ; H. Min
- Source: IET Control Theory & Applications, Volume 6, Issue 4, p. 596 –601
- DOI: 10.1049/iet-cta.2010.0301
- Type: Article
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p.
596
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For the sake of enlarging the domain of attraction of model predictive control (MPC), a novel method of computing a large terminal region was proposed. Given the terminal cost, a subset sequence of the maximal terminal region was constructed by employing one-step set expansion iteratively. It was proved that, when the iteration time goes to infinity, this subsets sequence will converge to the maximal terminal region. Each subset in the sequence was extracted from the state space by exploiting support vector machine classifier.
Stability analysis of interconnected Hamiltonian systems under time delays
Reconfigurable cooperative control of networked lagrangian systems under actuator saturation constraints
Stabilising tracking of uncertain switched non-linear systems in semi-strict feedback form
Using subset sequence to approach the maximal terminal region for model predictive control
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