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This paper is concerned with the distributed control for robust output regulation of multi-agent systems(MASs) with adaptive event-triggered mechanism. A novel distributed adaptive control law based on output feedback is developed, which can avoid using the minimal nonzero eigenvalue of Laplacian matrix associated with global system topology and reduce the frequency of data transmission. It is shown...
This paper investigates the stochastic stability of networked control systems. Since the signal transmission in communication channels would suffer from some disturbances, both of the input and output communication delays and missing measurements are considered. An observer-based feedback controller is designed for the networked control system achieving asymptotically stable in mean square with guaranteed...
In this paper, an adaptive non-singular terminal fault-tolerant controller has been designed for rigid spacecraft attitude maneuver. The proposed controller is based on the sliding mode scheme. An adaptive learning algorithm is applied for the estimation of the uncertainties. The non-singular terminal sliding surface is introduced to guarantee the system states converge to the desired states in finite...
In this paper, we study the group consensus for networked Euler-Lagrange systems under a general nonsymmetric directed graph. The relationships between the interactive agents in the same group are cooperation while the relationships between the interactive agents among different group can be either cooperation or competition. Two assumptions are presented to achieve group consensus, respectively,...
In this paper, the problem of sliding mode control (SMC) for mismatched uncertain system is investigated. Some delay dependent robust asymptotical stability conditions are provided. Firstly, we give a lemma. By this lemma, a delay-dependent sufficient condition is presented by means of linear matrix inequalities (LMIs) which makes sliding mode dynamics asymptotically stable. Secondly, an adaptive...
A modular approach of the estimation-based design in the adaptive linear control systems has been extended to the adaptive robust control of strict-feedback stochastic nonlinear systems with additive standard Wiener noises and constant unknown parameters. Using Itô differentiation rule, nonlinear damping and adaptive Backstepping procedure, the disturbance-to-state stable controller of global stabilization...
A 6DOF mathematical model of the “H” type quadrotor prototype is developed by the Newton-Euler method to analyze the complex nonlinear position and attitude control problems in this paper. Then the PID controllers are designed for the control of the horizontal position of the quadrotor. The adaptive backstepping sliding mode controllers are designed for the altitude and attitude control of the quadrotor...
This paper investigates the synchronization of fractional-order general complex dynamical networks with coupling delay. Based on the stability theory of the fractional-order system, the sufficient criteria for synchronization are derived analytically by applying the linear control methods. The proposed synchronization method is applicable to almost all kinds of coupled fractional-order general complex...
This paper considers the distributed event-triggered consensus problem for linear multi-agent systems. Distributed event-based protocols, consisting of the event-based control laws and the triggering functions, are designed, under which the consensus error is asymptotically stable and the Zeno behavior can be excluded. Compared to the previous related works, our main contribution is that we propose...
In this paper, fully distributed time-varying formation tracking problem for general linear time-invariant (LTI) multi-agent systems is investigated by using an adaptive-based approach. The communication topology is a spanning tree in which a leader's output is available to only a subset of the agents (followers) among which the communication is undirected. The followers can form a time-varying formation...
Robust adaptive time-varying formation control problems for high-order linear multi-agent systems with parameter uncertainties and external disturbances are investigated. Firstly, using the adaptive updating mechanism, a fully distributed time-varying formation control protocol is proposed. The protocol is determined by each agent in a fully distributed form and does not need any global information...
In this paper, the consensus for a class of nonlinear heterogeneous multi-agent systems (MAS) subject to unknown external disturbances is investigated. Firstly, the neighbor-based distributed finite-time observers are proposed for the followers to estimate the position and velocity of the leader. Then, a novel distributed adaptive control laws is designed by means of linear sliding mode (LSM). One...
We study the consensus problems for double integrators in this paper. Different from the existing works, the position and the velocity interactions among the agents are modeled by different graphs. We consider two different velocity interactions, namely, the balanced graph and a general directed graph. We propose fully distributed consensus algorithms with absolute velocity damping when position topology...
Using multiple models to deal with transients for adaptive systems which is large parametric uncertainties was introduced in the 1990s. The common method is using switching schemes. However, these methods has some potential drawbacks. In this paper, a new multiple models scheme is proposed for a class strict-feedback nonlinear discrete-time systems. Firstly, we use feedback linearization and backstepping...
Electric Power Assisted Bicycle (EPAC) is becoming the transport and fitness tools that people pursue because of its green, healthy and economical characteristics. Compared to the conventional electric bike, EPAC not only reduces the burden on the rider, but also maintains the original bicycle characteristics. Nowadays, there is few study of the control approach adaptive to road slope and load for...
In the paper, aiming at the large-angle attitude maneuver problem of the spacecraft of which the inertia matrix is uncertain, we establish the spacecraft's error quaternion attitude tracking model, and we use the golden section adaptive control method combined with the logic differential control method, following the planning path, to complete the large-angle attitude maneuver control of the spacecraft...
This paper investigates the finite-time tracking problem for nonholonomic mobile robots despite of unknown system disturbances. In the proposed tracking control, a novel sliding mode controller is given at torques level such that both the position and the orientation tracking errors convergence to zero within finite time. In particular, by employing the adaptive method during the robot's moving process,...
The robust adaptive control of uncertain system with unknown time-varying control coefficient is discussed. A novel output sampled control scheme based on characteristic model with neural network estimator is proposed. The design of the control scheme includes characteristic modeling, estimation for the characteristic parameters, and characteristic model-based adaptive control. The estimation method...
In this paper, an adaptive quantized decentralized state feedback approach is proposed for a class of interconnected nonlinear systems with actuator failures and input saturation. By the use of a modified backstepping approach, bound estimation approach, and by hyperbolic tangent function property the effect of actuator failures, input saturation and quantization are successfully compensated. It is...
This paper proposes data-driven feedback-feedforward controller design from closed-loop step response data. The proposed method directly tunes feedback controllers based on Virtual Reference Feedback Tuning (VRFT) using closed-loop step response data. Then, the feedforward controller is designed for disturbance attenuation from measurable disturbances. The feedback controller is linearly parametrized...
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