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This journal was previously known as IEE Proceedings - Control Theory and Applications 1994-2006. ISSN 1350-2379. more..
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Research on the strategies for collision avoidance of multi‐UAV with three dimensional formation in combination of consensus algorithm and uniform flow
- Author(s): Wei Xu and Ning Cao
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p.
2379
–2401
(23)
AbstractThe paper proposes the method of uniform flow loading the improved consensus algorithm to achieve obstacle avoidance for multi‐UAV with 3‐D formation. In view of that the flow function is generally only applicable to two dimensional flow field, dimension reduction is to treat multi‐UAV formation as each UAV flows around along the circular surface of the projected cylinder of spherical obstacle at its different heights. To formation guaranteeing the smooth realization of obstacle avoidance of multi‐UAV formation centered on the leader, it is used the tactics of virtually expanding the radius of these static or moving equivalent cylindrical obstacles to reserve a certain space. The innovation of this strategy is to further reduce the possibility of collision between UAV formation and the edge of obstacles, meanwhile the problem of multi‐UAV formation avoiding obstacles is transformed into the problem of collision avoidance navigation for the leader treated as a particle. It is considered collision avoidance for multi‐UAV formation under three scenarios assumed are the most common situations, and the simulation experimental results of these scenarios are demonstrated on the validity of the designed experiments based on these algorithms.
Every multi‐UAV formation and spherical obstacle are wrapped into an equivalent infinite cylinder along the z axis, and each UAV flows around along the circular surface of the projected cylinder of spherical obstacle or of multi‐UAV formation at its different heights based on the approach of combining with the consensus algorithm and uniform flow. To formation guaranteeing the smooth realization of obstacle avoidance of multi‐UAV formation centered on the leader, it is used the tactics of virtually expanding the radius of these static or moving equivalent cylindrical obstacles to reserve a certain space. It is considered collision avoidance for multi‐UAV formation under three scenarios assumed are the most common situations, and the simulation experimental results of these scenarios are demonstrated on the validity of the designed experiments based on these algorithms. image
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Data‐driven consistent control with data compensation for a class of unknown nonlinear multiagent systems with constraints
- Author(s): Lipu Wu ; Zhen Li ; Shida Liu ; Zhijun Li ; Dehui Sun
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p.
2402
–2418
(17)
AbstractTo solve the problem of longitudinal cooperative formation driving control of multiple vehicles, a novel model‐free adaptive control algorithm with data compensation under constraint conditions (COM‐cMFAC) is proposed in this manuscript. In the COM‐cMFAC algorithm, the pseudo partial derivative (PPD), which is a time‐varying parameter, is used to linearize the nonlinear dynamics of the multivehicle cooperative system by using dynamic linearization technology. Then, a COM‐cMFAC controller is designed. For the case of data packet loss, the proposed controller uses a data compensation mechanism that estimates and compensates for the lost data through the data collected at the previous moment to perform packet loss control. Additionally, the controller considers the constrained input and output problems that will occur in the actual control process and imposes input and output constraints. The main advantage of the COM‐cMFAC algorithm is that the entire control process only needs the input and output data of the multivehicle cooperative system, and it also has a good control effect in the case of packet loss. The stability of the proposed method is verified through strict mathematical analysis, and its effectiveness is verified by semiphysical experiments based on a MATLAB/Simulink and Carsim platform connection environment.
In the manuscript, a novel model‐free adaptive control algorithm with data compensation under constraint conditions (COM‐cMFAC) is introduced to solve the control multivehicle longitudinal cooperative formation. For the case of data packet loss, the manuscript designs a data compensation mechanism, which estimates and compensates the lost data through the collected data at the last moment, so as to achieve packet loss control. Meanwhile, the algorithm sets input and output constraints to prevent the vehicle speed and other parameters from exceeding the specified range.image
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Distributed parameter identification algorithm for large‐scale interconnected systems
- Author(s): Mounira Hamdi ; Lhassane Idomhgar ; Samira Kamoun ; Mondher Chaoui ; Abdenaceur Kachouri
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p.
2419
–2429
(11)
AbstractThis paper deals with parameter estimation problem of large‐scale systems. A recursive distributed parameter estimation algorithm, based on the minimization of the prediction estimation error method, is developed. Specifically, the class of large‐scale systems that are composed of several interconnected sub‐systems is considered. Each interconnected sub‐system is modelled by a linear discrete‐time state space mathematical model with unknown parameters. The convergence analysis is then achieved using the Lyapunov approach. The theoretical analysis and simulation results prove the effectiveness of the proposed algorithm.
A recursive method is presented for parameter identification of large‐scale interconnected systems. The proposed algorithm is dedicated to systems described by a state space model. Simulation results prove that this algorithm has a good performance.image
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Distributed finite‐time control with event triggered mechanism for multi‐agent systems under fixed and switching topologies
- Author(s): Hui Lv ; Shibo Li ; Yadong Chen ; Guolin Hu ; Wenjing Zheng
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p.
2430
–2440
(11)
AbstractThis paper addresses the problem of distributed finite‐time (FT) event‐triggered consensus of multi‐agent systems (MASs) under fixed and switching topologies. To conserve the limited communication resources, a new distributed event‐triggered control protocol is proposed, in which the agents exchange information via discontinuous communication among the follower agents. Then, to solve the FT consensus problem, norm‐normalized sign functions are employed, and sufficient Lyapunov conditions are provided. On this basis, the MASs proves capable of reaching consensus within finite time under fixed and switching topologies. Finally, the effectiveness of the developed algorithm is verified via numerical simulation.
This paper proposes a new distributed event‐triggered control protocol. Based on the norm‐normalized sign functions and sufficient Lyapunov conditions, the MASs proves capable of reaching consensus within finite time under fixed and switching topologies.image
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A distributed consensus based algorithm for economic dispatch over time‐varying digraphs
- Author(s): Keng Xu ; Fanghong Guo ; Gangfeng Yan
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p.
2441
–2457
(17)
AbstractIn this paper, a consensus based fully distributed optimization algorithm is proposed for solving economic dispatch problem (EDP) in smart grid. Since the incremental cost of all buses reach consensus when the optimal solution is achieved, it is selected as a consensus variable. An additional variable at each bus, called “surplus” is added to record the local power mismatch, which is used as a feedback variable to purse the balance between power supply and demand. Different from most of the existing distributed methods which require the communication network to be balanced, the algorithm uses a row random matrix and a column random matrix to precisely steer all the agents to asymptotically converge to a global optimal solution over a time‐varying directed communication network. Due to the use of a fixed step size, the proposed algorithm also outperforms other algorithms in terms of convergence speed. The graph and eigenvalue perturbation theories are employed for the algorithm convergence analysis, and the upper bound of the parameters required for convergence is given theoretically. Finally, the performance and scalability of the proposed distributed algorithm are verified by several case studies conducted on the IEEE 14‐bus power system and a 200‐node test system.
A consensus based fully distributed optimization algorithm is proposed for solving EDP in smart grid. Our algorithm uses a row random matrix and a column random matrix to precisely steer all the agents to asymptotically converge to a global optimal solution over a time‐varying directed communication network. Experimental results show that the proposed distributed algorithm has good performance and scalability.image
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Finite-time stability of interconnected impulsive switched systems
- Author(s): Guangdeng Zong ; Hangli Ren ; Linlin Hou
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Event-based security control for discrete-time stochastic systems
- Author(s): Derui Ding ; Zidong Wang ; Guoliang Wei ; Fuad E. Alsaadi
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Survey on semi-tensor product method with its applications in logical networks and other finite-valued systems
- Author(s): Jianquan Lu ; Haitao Li ; Yang Liu ; Fangfei Li
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Optimal control for networked control systems with disturbances: a delta operator approach
- Author(s): Yuan Yuan ; Huanhuan Yuan ; Zidong Wang ; Lei Guo ; Hongjiu Yang
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Filtering-based iterative identification for multivariable systems
- Author(s): Yanjiao Wang and Feng Ding