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In this paper, we propose an improved robust model predictive control method for uncertain polytopic systems with input saturation constraints. For the synthesis of the robust controllers, a sequence of feedback control laws and a parameter-dependent Lyapunov function are utilized to further reduce the conservativeness and improve control performance. The state feedback control law is obtained by...
Self-triggered control is a technique which can determine the next sampling instant by virtue of the last sampling information. Combining this technique and the low-gain feedback one, we investigate the consensus tracking of general linear multi-agent systems with input saturation and updating delays in this paper. Specific formulations of heterogenous updating delays and heterogenous sampling periods...
This paper investigates the robust second-order tracking problem of multi-agent systems without velocity measurements and with input saturation on detailed balanced directed communication topologies, where agents' dynamics are subject to uncertain and external disturbances. We first construct one distributed bounded controller for multi-agent systems without uncertain and external disturbances. Then,...
This paper investigates the distributed adaptive event-triggered consensus control for a class of Lipschitz nonlinear agents. Each agent is subject to input saturation. Two kinds of distributed event-triggered control scheme are introduced, one is continuous-time based event-triggered scheme and the other is sampled-data based event-triggered scheme. Compared with the traditional event-triggered schemes...
In this paper, stabilization control of an underactu-ated ship in the presence of input saturation is addressed. By introducing a virtual reference, the stabilization is transformed into a path following problem thus the error dynamics is divided into a cascade of two subsystems, and the torques in surge and yaw axis are designed separately using the backstepping technique. It is shown that the closed-loop...
In actual teleoperation system, due to the components, structure, security and the laws of physics limit, system input, state and output values can not be arbitrary. These restrictions on signals if without a second thought in design process will likely result in system performance losses and even system failure or collapse. With above considerations, the synchronization control design problem will...
This paper investigates the finite-time consensus problem for double integrator multi-agent systems where each agent is subject to input saturation. The global leader-following consensus can be achieved in finite time over directed and detail-balanced communication topology under the proposed control protocol, which employs a priori saturation in order to deal with the constraints imposed on the control...
In this paper, a distributed event-triggered control strategy is proposed such that consensus of multi-agent systems is achieved subject to input saturation in an output feedback setting. Instead of triggering the controller periodically, the proposed controller is not activated until the response of the system exceeds some pre-defined event-triggered limitation. The case of the output feedback is...
In this paper, semi-global disturbance decoupling and semi-global stability problem for continuous-time periodic linear systems with input saturation is investigated. Based on the controllability hypothesis of the periodic system matrix pair, a family of periodic linear state feedback laws are structured through the positive definite solutions to a class of periodic Riccati differential equations,...
In this paper, the plant model and closed-loop performance of a newly developed slider driven micro-electromechanical system (MEMS) is investigated. The model and hysteresis of this new MEMS thermal actuator (MTA) is presented first. Then, the peak-to-peak gain minimization method, which focuses on minimizing the best upper bound on the control signal peak value, is applied to satisfy the input saturation...
In this paper we consider finite-time consensus control for a group of second-order nonlinear mechanical systems. Distributed controllers are designed such that consensus is reached while all the agents in the multi-agent system are suffered from input saturation. We assume that the velocities of the agents are not measurable, thus an observer is designed for each of the agents. It is shown that the...
The paper proposed a nonlinear continuous static gain scheduled controller for the spacecraft circular orbit rendezvous system with input saturation, input-additive uncertainties and external disturbances by combining the parametric Lyapunov equation-based low gain feedback design method and gain scheduling technique. The relative models are established based on C-W equation. To apply the proposed...
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