Showing papers in "International Journal of Systems Science in 2019"
TL;DR: A parameter estimation algorithm for linear continuous-time systems based on the hierarchical principle and the parameter decomposition strategy that has good performance and the complexity of the hierarchical Newton and least squares iterative estimation algorithm is reduced.
Abstract: This paper develops a parameter estimation algorithm for linear continuous-time systems based on the hierarchical principle and the parameter decomposition strategy. Although the linear continuous-...
94 citations
TL;DR: An integrated scheme based on a hybrid control and virtual fixture approach for the telerobot that integrates the proportional-derivative control and the variable stiffness control, and involves the muscle activation at the same time is developed.
Abstract: To develop secure, natural and effective teleoperation, the perception of the slave plays a key role for the interaction of a human operator with the environment. By sensing slave information, the human operator can choose the correct operation in a process during the human–robot interaction.
This paper develops an integrated scheme based on a hybrid control and virtual fixture approach for the telerobot. The human operator can sense the slave interaction condition and adjust the master device via the surface electromyographic signal. This hybrid control method integrates the proportional-derivative control and the variable stiffness control, and involves the muscle activation at the same time. It is proposed to quantitatively analyse the human operator’s control demand to enhance the control performance of the teleoperation system. In addition, due to unskilful operation and muscle physiological tremor of the human operator, a virtual fixture method is developed to ensure accuracy of operation and to reduce the operation pressure on the human operator. Experimental results demonstrated the effectiveness of the proposed method for the teleoperated robot.
47 citations
TL;DR: This paper investigates the problem of global output feedback stabilisation for a class of uncertain nonlinear systems, where output function is time-varying and continuous, and multiple time delays exist in system state at the same time.
Abstract: This paper investigates the problem of global output feedback stabilisation for a class of uncertain nonlinear systems, where output function is time-varying and continuous, and multiple time delay...
46 citations
TL;DR: In this paper, the design of networked recursive filter is investigated for a kind of nonlinear stochastic systems subject to missing measurements, fixed time-delay and uniform quantisation under the Round-Robin protocol.
Abstract: In this paper, the design of networked recursive filter is investigated for a kind of nonlinear stochastic systems subject to missing measurements, fixed time-delay and uniform quantisation under the Round-Robin protocol. In a digital platform, the information coming from multi-sensors could be subject to missing measurements due to the environment effect and then need to be transformed into digital signals via uniform quantizers. In addition, the Round-Robin protocol is adopted to govern the token accessing to channel media so as to both save energy and mitigate the data congestion. A novel extended Kalman-type recursive filter is constructed that firstly combines the Round-Robin protocol, namely, in the form of the augmentation of the plant system dynamics and the protocol-induced periodic measurements. In the simultaneous consideration of system delays, missing measurements, uniform quantisation, as well as the Round-Robin protocol, the purpose for the discussed filtering problem is to obtain a set of ...
42 citations
TL;DR: An integrated robust FTC strategy is adopted by combining a descriptor approach and a novel structure of parallel distributed compensation control laws that ensures the closed-loop system stability of the faulty system and respects the given saturation constraints on the control input.
Abstract: In this paper, we address the problem of fault tolerant constrained control (FTCC) design with multiobjective requirement for a class of uncertain Takagi-Sugeno systems subject to input and state c...
34 citations
TL;DR: Theoretical results on robust passivity and feedback passification of a class of uncertain fractional-order (FO) linear systems are presented and the existing condition and method of designing a robust observer-based passive controller for such systems are derived.
Abstract: Theoretical results on robust passivity and feedback passification of a class of uncertain fractional-order (FO) linear systems are presented in the paper. The system under consideration is subject...
29 citations
TL;DR: The purpose of the addressed problem is to design a filter such that, in the presence of state delay and random one-step measurement delay, an upper bound of the filtering error covariance matrix can be obtained and the explicit expression of the filter gain matrix is given.
Abstract: This paper is concerned with the variance-constrained filtering problem for a class of discrete-time genetic regulatory networks (GRNs) with state delay and random one-step measurement delay. The p...
29 citations
TL;DR: The guaranteed cost robustness is proved by the Lyapunov equation approach and a simulation example applied to the mass-spring system is provided to demonstrate the correctness and effectiveness of the proposed results.
Abstract: For multisensor systems with uncertain noise variances and missing measurements, it can be converted into one only with uncertain noise variances by introducing fictitious measurement white...
29 citations
TL;DR: A novel Barrier Lyapunov Function (BLF) is proposed to guarantee the prescribed performance for the manipulator tracking error and a disturbance observer is introduced to estimate the system uncertainty and disturbance accurately in a predefined time.
Abstract: This paper investigates the fixed-time prescribed performance tracking control for the n-DOF uncertain manipulator. First, a novel Barrier Lyapunov Function (BLF) is proposed to guarantee the presc...
28 citations
TL;DR: An innovative NN robot control using a dimension compressed RBF (DCRBF) for a class of n-degree of freedom (DOF) robot with full-state constraints is proposed and the results indicate that the proposed method, integral Barrier Lyapunov Functions (iBLF), avoids the existing defects of Barrier LyAPunov functions (BLF) and prevents the constraint violations.
Abstract: Conventional Neural Network (NN) control for robots uses radial basis function (RBF) and for n-link robot with online control, the number of nodes and weighting matrix increases exponentially, which requires a number of calculations to be performed within a very short duration of time. This consumes a large amount of computational memory and may subsequently result in system failure. To avoid this problem, this paper proposes an innovative NN robot control using a dimension compressed RBF (DCRBF) for a class of n-degree of freedom (DOF) robot with full-state constraints. The proposed DCRBF NN control scheme can compress the nodes and weighting matrix greatly and provide an output that meets the prescribed tracking performance. Additionally, adaption laws are designed to compensate for the internal and external uncertainties. Finally, the effectiveness of the proposed method has been verified by simulations. The results indicate that the proposed method, integral Barrier Lyapunov Functions (iBLF), avoids the existing defects of Barrier Lyapunov Functions (BLF) and prevents the constraint violations.
25 citations
TL;DR: This paper defines the concept of a single-valued neutrosophic interval number (SVNIN) and presents the basic operational laws of SVNINs and the score function of SVnIN based on the attitude index and confident level of decision makers to compare SVNins.
Abstract: To describe decision makers’ judgments for an evaluated object more comprehensively in the decision-making process, this paper firstly defines the concept of a single-valued neutrosophic interval n...
TL;DR: A novel framework is proposed for developing a unified methodology for the convergence analysis of the closed-loop control systems, which can fully ensure the desired adaptive consensus tracking for multiple nonholonomic mobile robots.
Abstract: This paper addresses the cooperative adaptive consensus tracking for a group of multiple nonholonomic mobile robots, where the nonholonomic robot model is assumed to be a canonical vehicle having t...
TL;DR: An improved version of generalised Kalman–Yakubovich–Popov lemma is first developed for protocol-induced periodic system and sufficient conditions are derived to guarantee both the fault and the disturbance attenuation capability by solving a set of matrix inequalities.
Abstract: The paper considers the fault detection problem over finite-frequency domain for a class of discrete time-delayed networked systems subject to round-robin protocol. This protocol is a periodic one ...
TL;DR: An improved globally asymptotic stability criterion is derived to guarantee impulsive synchronisation of the response systems with the drive systems and a new decentralised event-triggered scheme for the considered delayed NNs is proposed.
Abstract: This study examines the problem of decentralised event-triggered impulsive synchronisation for the semi-Markovian jump neutral type neural networks with leakage delay and randomly occurring uncerta...
TL;DR: An intelligently optimised self-tuning fractional-order control scheme to improve the attitude-stabilisation of an inverted pendulum and is tested on the QNET Rotary Inverted Pendulum setup via ‘hardware-in-the-loop’ experiments.
Abstract: This article presents an intelligently optimised self-tuning fractional-order control scheme to improve the attitude-stabilisation of an inverted pendulum. Primarily, the scheme employs two Fractio...
TL;DR: A data-driven adaptive dynamic programming method via Q-learning method using measurable input/output data without any system knowledge to overcome deficiencies with a class of discrete-time linear nonzero-sum games with the partially observable system state.
Abstract: This paper concerns with a class of discrete-time linear nonzero-sum games with the partially observable system state. As is known, the optimal control policy for the nonzero-sum games relies on th...
TL;DR: This paper investigates the event-triggered consensus control for a general linear multi-agent system with model uncertainties and external disturbances and demonstrates that the Zeno behaviour will never occur by giving the lower bound of inter-event time intervals.
Abstract: This paper investigates the event-triggered consensus control for a general linear multi-agent system with model uncertainties and external disturbances. A consensus protocol is proposed using the ...
TL;DR: A robust dynamic output feedback controller that asymptotically stabilises interval fractional-order linear time-invariant (FO-LTI) systems with the fractional order in terms of linear matrix inequalities (LMIs).
Abstract: This paper addresses the problem of robust dynamic output stabilisation of FO-LTI interval systems with the fractional order 0<α<2, in terms of linear matrix inequalities (LMIs). Our purpos...
TL;DR: A sufficient condition in quaternion-valued linear matrix inequality (LMI) to guarantee the global exponential stability in Lagrange sense is acquired, and the domain of attraction is estimated.
Abstract: This paper deals with the global exponential stability in Lagrange sense for quaternion-valued neural networks (QVNNs) with leakage delay, discrete time-varying delays and distributed delays. By st...
TL;DR: To relax the strict probabilistic description on disturbance, zonotope parameter identification algorithm is proposed to calculates a set that contains the unknown parameters consistent with the measured output and the given bound of the disturbance.
Abstract: The problem of designing two feedback controllers for an unknown plant based on input–output measurements is discussed within a linear setting. Virtual reference feedback tuning is a direct...
TL;DR: Finite-time adaptive neural tracking control for a class of nonlinear time-delay systems subject to the actuator delay and full-state constraints is investigated, and the designed control scheme reduces learning parameters.
Abstract: This paper investigates finite-time adaptive neural tracking control for a class of nonlinear time-delay systems subject to the actuator delay and full-state constraints. The difficulty is to consi...
TL;DR: This paper studies the consensus problem of non-linear network systems subject to time-delay through aperiodic sampled-data control, which is more desirable and flexible than periodic sampling control, and establishes a new stability criterion via using a time-dependent Lyapunov functional and the free-weighting matrix method.
Abstract: This paper studies the consensus problem of non-linear network systems subject to time-delay through aperiodic sampled-data control, which is more desirable and flexible than periodic sampling control. By receiving the relative information of the neighboring nodes, each node can obtain control input signals at the discrete sampling instants. A new stability criterion is established for network systems via using a time-dependent Lyapunov functional and the free-weighting matrix method. The maximum upper bound of sampling interval can be achieved by solving Linear matrix inequality optimization problem. Under the basic work of a non-fragile sampled-data controller, network systems with time-delay are asymptotically stable. In the end, two numerical simulation examples can be provided to illustrate the validity of the application of the proposed algorithm.
TL;DR: The contribution of this work consists on the design of a novel robust adaptive observer based on polyquadratic formulations with a new set of relaxation to guarantee the stability of the system and the asymptotic convergence of faults error.
Abstract: In this paper, we study the problem of state estimation and both actuator and sensor fault detection for Linear Polytopic Parameter-Varying (LPV) system. The contribution of this work consists on t...
TL;DR: The proposed controller provides robustness property against uncertainty but also copes with the overparametrisation problem and exhibits satisfactory transient performance, good estimates of the uncertain parameters, and less chattering.
Abstract: An adaptive backstepping tuning functions sliding mode controller is proposed for a class of strict-feedback nonlinear uncertain systems. In this control design, adaptive backstepping is used to de...
TL;DR: A data-driven optimal control approach based on the gradient decent algorithm is proposed for unknown continuous-time switched linear autonomous systems with a finite-horizon cost function and a prescribed switching sequence to approximate the optimal switching times.
Abstract: In this paper, a novel data-driven optimal control approach of switching times is proposed for unknown continuous-time switched linear autonomous systems with a finite-horizon cost function and a p...
TL;DR: A novel adaptive event-triggering mechanism (AETM) where the boundedness ofreshold function is guaranteed and the size of threshold function is inversely proportional to thesize of 2-norm of the sampled-output-error is proposed to dynamically adapt the variation of the system and to reduce the unnecessary information communication between the sensor and the filter.
Abstract: This study is concerned with the problem of event-based fault detection (FD) filter design for interval type-2 fuzzy systems in a network environment. Firstly, by employing the properties of expone...
TL;DR: Takagi–Sugeno (T–S) fuzzy model of a nonlinear system is established by constructing a suitable Lyapunov functional, exponential stability conditions are obtained for fuzzy systems by designing sampled-data fuzzy controllers in the form of linear matrix inequality (LMI).
Abstract: This study deals with the chaotic phenomenon of nonlinear Chua's circuit for power generator systems. Takagi–Sugeno (T–S) fuzzy model of a nonlinear system is established. By constructing a...
TL;DR: This article investigates the containment control problem for a class of second-order multi-agent systems with inherent nonlinear dynamics, under the common assumption that each agent can only obtain the relative information of its neighbours intermittently.
Abstract: This article investigates the containment control problem for a class of second-order multi-agent systems with inherent nonlinear dynamics, under the common assumption that each agent can only obtain the relative information of its neighbours intermittently. A kind of distributed protocol based only on the relative local intermittent measurements of neighbouring agents is designed for containment control under fixed directed topology. In the absence of delays, based on the Lyapunov function technology and the intermittent control method, some sufficient conditions are presented to guarantee the intermittent containment control of second-order nonlinear multi-agent systems. In the presence of delays, some containment conditions are also obtained for a second-order multi-agent systems with inherent delayed nonlinear dynamics and intermittent communications. Moreover, the similar results are obtained for second-order nonlinear multi-agent systems under switching directed topology. Finally, simulation...
TL;DR: An adaptive iterative learning control (ILC) method is proposed for switched nonlinear continuous-time systems with time-varying parametric uncertainties and the efficacy of the proposed controller is demonstrated by the simulation results.
Abstract: In this paper, an adaptive iterative learning control (ILC) method is proposed for switched nonlinear continuous-time systems with time-varying parametric uncertainties. First, an iterative learnin...
TL;DR: The proposed design method not only ensures the closed-loop system is strictly passive with a prescribed passivity performance index, but also gets rid of Zeno phenomenon fundamentally, which may exist in continuous event trigger scheme.
Abstract: This paper investigates passivity based fault tolerant control (FTC) for Vertical Take-off and Landing aircraft system subject to actuator failure under event-driven transmission mechanism. Firstly...