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Journal ArticleDOI: 10.1080/00207179.2019.1613560

Distributed finite-time tracking control for multiple uncertain Euler-Lagrange systems with error constraints

04 Mar 2021-International Journal of Control (Informa UK Limited)-Vol. 94, Iss: 3, pp 698-710
Abstract: In this paper, the distributed finite-time error constrained tracking control for multiple uncertain Euler-Lagrange systems is investigated under directed topology. We consider that the information...

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6 results found


Open access
01 Mar 2015-
Abstract: In this paper, the problem of fault detection and isolation (FDI) of the attitude control subsystem (ACS) of spacecraft formation flying systems is considered. For developing the FDI schemes, an extended Kalman filter (EKF) is utilised which belongs to a class of nonlinear state estimation methods. Three architectures, namely centralised, decentralised, and semi-decentralised, are considered and the corresponding FDI strategies are designed and constructed. Appropriate residual generation techniques and threshold selection criteria are proposed for these architectures. The capabilities of the proposed architectures for accomplishing the FDI tasks are studied through extensive numerical simulations for a team of four satellites in formation flight. Using a confusion matrix evaluation criterion, it is shown that the centralised architecture can achieve the most reliable results relative to the semi-decentralised and decentralised architectures at the expense of availability of a centralised processing module that requires the entire team information set. On the other hand, the semi-decentralised performance is close to the centralised scheme without relying on the availability of the entire team information set. Furthermore, the results confirm that the FDI results in formations with angular velocity measurement sensors achieve higher level of accuracy, true faulty, and precision, along with lower level of false healthy misclassification as compared to the formations that utilise attitude measurement sensors.

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18 Citations


Journal ArticleDOI: 10.1016/J.NEUCOM.2020.02.036
15 Jul 2020-Neurocomputing
Abstract: Bipartite consensus of multiple fractional-order nonlinear systems with output constraints is assessed under signed graph. The agents’ model is completely unknown with high-order heterogeneous strict-feedback dynamics and external disturbances, which cover single- and double-integrator integer-order systems as special forms. To ensure the bipartite consensus task, a novel fully distributed controller is developed based on backstepping technique and neuro-adaptive update mechanism. A barrier Lyapunov function is introduced to limit the followers’ outputs within the preset bounds. Algebraic graph theory and Lyapunov fractional-order stability theorem are employed to deal with the analysis difficulties caused by the network of fractional-order dynamics. Sufficient conditions on bipartite consensus is established, and it is also shown that all the closed-loop error signals are uniformly ultimately bounded. The simulation results are carried out to demonstrate the effectiveness of the proposed approach.

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Topics: Bipartite graph (58%), Lyapunov function (57%), Signed graph (55%) ... read more

17 Citations


Journal ArticleDOI: 10.1016/J.NEUCOM.2020.02.107
15 Feb 2021-Neurocomputing
Abstract: In this work, a leader–follower formation control for a group of waterjet unmanned marine surface vehicles (USV) is proposed under the consideration of formation tracking errors constraints. To guarantee line-of-sight (LOS) range and angle tracking errors constraints, a time-varying tan-type barrier Lyapunov function (BLF) is used. In addition, the bioinspired neurodynamics is introduced to solve the traditional differential explosion problem which can not only avoid the differential of the virtual control but can limit the output in a certain range. Further, an observer is involved to overcome the leader’s velocity unavailable problem and decrease the communication burden. Simulation results verify that under the proposed method, the LOS range and angle errors can converge into an arbitrary small neighborhood around 0, while the requirements of the constraints are never violated during the maneuver.

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5 Citations


Open accessDOI: 10.22061/JECEI.2020.6222.289
20 Jun 2019-
Abstract: Background and Objectives: This article discusses a finite-time fault-tolerant consensus control for stochastic Euler-Lagrange multi-agent systems.Methods: First, the finite-time consensus controller of Euler-Lagrange multi-agent systems with stochastic disturbances is presented. Then, the proposed controller is extended as a fault-tolerant controller in the presence of faults in the actuators. In these two cases, the sliding-mode distributed consensus controllers are designed.Results: The results section is the most important part of the abstract and nothing should compromise its range and quality. This is because readers who peruse an abstract do so to learn about the findings of the study. The results section should therefore be the longest part of the abstract and should contain as much detail about the findings as the journal word count permits.Conclusion: The proposed theorems in this paper guarantee that the consensus tracking errors are bounded in probability and after a finite-time remain in a desired area close to the origin in the mean-square senses. The obtained theorems were applied to consensus control of the robotic manipulators to indicate the performance of the proposed controllers.

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Topics: Consensus (57%), Control theory (56%)

2 Citations


Journal ArticleDOI: 10.1016/J.JFRANKLIN.2021.08.033
Sheng Li1, Wencheng Zou2, Zhengrong Xiang1Institutions (2)
Abstract: This paper addresses the consensus problem for a class of multiple Euler-Lagrange systems, where agents communicate with neighbors under an event-triggered mechanism. Due to the more complex dynamical characteristics, the consensus problem of multiple Euler-Lagrange systems is more challenging than that of ordinary second-order multi-agent systems. In this study, we assume that the inertia matrix, the Coriolis and centrifugal term, and the gravitational torque are totally unknown, then a protocol is derived by integrating the Lyapunov functional method, neural network approximation and adaptive control techniques. In addition, the event-triggered mechanism effectively reduces the communication traffic, and the Zeno behavior is well excluded. By a demonstrative example, the effectiveness of the protocol is illustrated.

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Topics: Consensus (56%), Adaptive control (53%), Sylvester's law of inertia (50%)

References
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52 results found


Journal ArticleDOI: 10.1109/TAC.2005.846556
Wei Ren1, Randal W. Beard2Institutions (2)
Abstract: This note considers the problem of information consensus among multiple agents in the presence of limited and unreliable information exchange with dynamically changing interaction topologies. Both discrete and continuous update schemes are proposed for information consensus. This note shows that information consensus under dynamically changing interaction topologies can be achieved asymptotically if the union of the directed interaction graphs have a spanning tree frequently enough as the system evolves.

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Topics: Uniform consensus (63%), Consensus dynamics (61%), Consensus (55%) ... read more

5,451 Citations


Journal ArticleDOI: 10.1016/J.AUTOMATICA.2005.07.001
Shuanghe Yu1, Xinghuo Yu1, Russel J. Stonier1Institutions (1)
08 Jul 2003-
Abstract: A continuous finite-time control scheme for rigid robotic manipulators is proposed using a new form of terminal sliding modes. The robustness of the controller is established using the Lyapunov stability theory. Theoretical analysis and simulation results show that faster and high-precision tracking performance is obtained compared with the conventional continuous sliding mode control method.

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Topics: Terminal sliding mode (72%), Sliding mode control (67%), Variable structure control (62%) ... read more

1,580 Citations


Journal ArticleDOI: 10.1016/S0005-1098(01)00087-5
Francesco Amato1, Marco Ariola1, Peter Dorato2Institutions (2)
01 Sep 2001-Automatica
Abstract: In this paper we consider finite-time control problems for linear systems subject to time-varying parametric uncertainties and to exogenous constant disturbances. The main result provided is a sufficient condition for robust finite-time stabilization via state feedback. It can be applied to problems with both non-zero initial conditions and unknown constant disturbances. This condition is then reduced to a feasibility problem involving linear matrix inequalities (LMIs). A detailed example is presented to illustrate the proposed methodology.

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738 Citations


Open accessJournal ArticleDOI: 10.1109/TAC.2014.2350391
Zhongkui Li1, Guanghui Wen2, Zhisheng Duan1, Wei Ren3Institutions (3)
Abstract: This technical note addresses the distributed consensus protocol design problem for multi-agent systems with general linear dynamics and directed communication graphs. Existing works usually design consensus protocols using the smallest real part of the nonzero eigenvalues of the Laplacian matrix associated with the communication graph, which however is global information. In this technical note, based on only the agent dynamics and the relative states of neighboring agents, a distributed adaptive consensus protocol is designed to achieve leader-follower consensus in the presence of a leader with a zero input for any communication graph containing a directed spanning tree with the leader as the root node. The proposed adaptive protocol is independent of any global information of the communication graph and thereby is fully distributed. Extensions to the case with multiple leaders are further studied.

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Topics: Directed graph (62%), Consensus (61%), Laplacian matrix (57%) ... read more

567 Citations


Journal ArticleDOI: 10.1109/TSMCB.2008.2007810
Zeng-Guang Hou1, Long Cheng1, Min Tan1Institutions (1)
01 Jun 2009-
Abstract: A robust adaptive control approach is proposed to solve the consensus problem of multiagent systems. Compared with the previous work, the agent's dynamics includes the uncertainties and external disturbances, which is more practical in real-world applications. Due to the approximation capability of neural networks, the uncertain dynamics is compensated by the adaptive neural network scheme. The effects of the approximation error and external disturbances are counteracted by employing the robustness signal. The proposed algorithm is decentralized because the controller for each agent only utilizes the information of its neighbor agents. By the theoretical analysis, it is proved that the consensus error can be reduced as small as desired. The proposed method is then extended to two cases: agents form a prescribed formation, and agents have the higher order dynamics. Finally, simulation examples are given to demonstrate the satisfactory performance of the proposed method.

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Topics: Adaptive control (61%), Robust control (58%), Robustness (computer science) (55%) ... read more

502 Citations


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