scholarly journals Preview Tracking Control of Linear Periodic Switched Systems with Dwell Time

2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Fucheng Liao ◽  
Lijie Cui ◽  
Yanrong Lu ◽  
Jiamei Deng
Keyword(s):  
Switched Systems ◽  
Tracking Control ◽  
Dwell Time ◽  
Closed Loop ◽  
Design Method ◽  
Sufficient Conditions ◽  
Control Input ◽  
Tracking Problem ◽  
Preview Control ◽  
Error System

This paper studies the preview tracking control problem for linear discrete-time periodic switched systems. Firstly, an augmented error system is constructed for each subsystem by stabilizing the augmented error systems through the method of optimal preview control, and the tracking problem of the switched system is transformed into the switched stability problem of closed-loop augmented error systems. Secondly, a switched Lyapunov function method is applied to search the minimal dwell time satisfying the switched stability of the closed-loop augmented error systems. Thirdly, the switched preview control input is solved from the controller of the individual augmented error system, and then the sufficient conditions and the preview controller can be obtained to guarantee the solvability of the original periodic switched preview tracking problem. Finally, numerical simulations show the effectiveness of the stabilization design method.

scholarly journals State Tracking of MRAC Systems in the Presence of Controller Temporary Failure Based on a Switching Method

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Caiyun Wu ◽  
Jun Zhao
Keyword(s):  
Adaptive Control ◽  
Switched Systems ◽  
Sufficient Conditions ◽  
Practical Stability ◽  
Tracking Problem ◽  
Failure Frequency ◽  
Error System ◽  
State Tracking ◽  
Switching Method ◽  
Model Reference Adaptive

The state tracking problem for a class of model reference adaptive control (MRAC) systems in the presence of controller temporary failures is studied. Due to the controller temporary failure, the considered system is viewed as an error switched system. The properties of Lyapunov function candidates without switching are described. Then the notion of global practical stability of switched systems is presented, and sufficient conditions for global practical stability of the error system under the restrictions of controller failure frequency and unavailability rate are provided. An example is presented to demonstrate the feasibility and effectiveness of the proposed method.

Positive impulsive observer design of fractional-order positive switched systems with mode-dependent average dwell time

2018 ◽  
Vol 41 (5) ◽  
pp. 1340-1347 ◽  
Author(s):  
Leipo Liu ◽  
Xiangyang Cao ◽  
Zhumu Fu ◽  
Shuzhong Song ◽  
Hao Xing
Keyword(s):  
Linear Programming ◽  
Fractional Order ◽  
Switched Systems ◽  
Dwell Time ◽  
Sufficient Conditions ◽  
Average Dwell Time ◽  
Observer Design ◽  
Exponentially Stable ◽  
Error System ◽  
Positive Switched Systems

This paper investigates the positive impulsive observer design of fractional-order positive switched systems with mode-dependent average dwell time (MDADT). By using the MDADT approach and the Lyapunov–Krasovskii functional technique, sufficient conditions are obtained to ensure the error system is globally exponentially stable. An algorithm is proposed to design the observer gain matrices via linear programming. Finally, two examples are provided to illustrate the effectiveness of the proposed method.

Robust preview control for polytopic nonlinear control systems

2021 ◽  
pp. 014233122199217
Author(s):  
Li Li ◽  
Xiao Yu
Keyword(s):  
Control Problem ◽  
Tracking Control ◽  
State Feedback ◽  
Closed Loop ◽  
Sufficient Conditions ◽  
Linear Matrix ◽  
Closed Loop System ◽  
Error System ◽  
Linear Matrix Inequality Approach ◽  
Parameter Dependent

In this paper, the preview tracking control problem for Lipschitz nonlinear system, where future reference signals over a finite horizon can be previewed. First, an augmented error system including previewed information is constructed, which transforms a preview tracking control problem into a regulation problem. Furthermore, sufficient conditions on polytopic nonlinear systems, which guarantee the corresponding closed-loop system to be asymptotically stable, are derived by employing parameter-dependent Lyapunov function. A linear matrix inequality approach for designing preview controllers in state feedback and output feedback settings is presented. Finally, two numerical examples are provided to demonstrate the effectiveness of the proposed approach.

Adaptive Tracking Control of Wheeled Mobile Robots

2011 ◽  
Vol 55-57 ◽  
pp. 1195-1199 ◽  
Author(s):  
Min Zuo ◽  
Guang Ping Zeng ◽  
Xu Yan Tu
Keyword(s):  
Mobile Robots ◽  
Tracking Control ◽  
Control Input ◽  
Tracking Problem ◽  
Wheeled Mobile Robots ◽  
Adaptive Tracking Control ◽  
Control Scheme ◽  
Velocity Increments ◽  
Simulation Results ◽  
Adaptive Control Scheme

Trajectory-tracking problem of wheeled mobile robots is investigated. Adaptive control scheme utilized has only one control signal. The control input gives out the velocity increments which will be utilized to adjust the pose of WMR so as to track the desired trajectories. The controller adopted is simple to realize and easy to tune the parameters, which is benefit to real applications. Numerical simulation results show that the control scheme is valid.

Robust adaptive state estimation for uncertain nonlinear switched systems with unknown inputs

2016 ◽  
Vol 40 (4) ◽  
pp. 1082-1091 ◽  
Author(s):  
Junqi Yang ◽  
Yantao Chen ◽  
Zheng Zheng ◽  
Wei Qian
Keyword(s):  
State Estimation ◽  
Switched Systems ◽  
Dwell Time ◽  
Sliding Mode ◽  
Lipschitz Constant ◽  
Sufficient Conditions ◽  
Average Dwell Time ◽  
Linear Matrix ◽  
Nonlinear Switched Systems ◽  
Continuous State

This paper discusses the issue of the continuous state estimation for a class of uncertain nonlinear switched systems under the two cases of both average dwell time and mode-dependent average dwell time. A robust and adaptive switched observer is developed such that the states of an original nonlinear switched system can be asymptotically estimated, where the Lipschitz constant of the nonlinear term may be unknown since the designed adaptation law can adaptively adjust it. Based on the feasible solution of an optimization problem with a linear matrix inequality constraint, the observer gain matrices are obtained and guarantee the existence of a robust switched observer. Meanwhile, the switching signals are designed such that the observer error dynamics is globally uniformly exponentially stable, and the sufficient conditions of the existence of a robust sliding-mode switched observer are derived. Finally, the effectiveness of the proposed approaches is illustrated by a numerical example and switched Rössler chaotic dynamics.

scholarly journals Optimal preview control for a class of linear continuous-time large-scale systems

2017 ◽  
Vol 40 (14) ◽  
pp. 4004-4013 ◽  
Author(s):  
Fucheng Liao ◽  
Yu Wang ◽  
Yanrong Lu ◽  
Jiamei Deng
Keyword(s):  
Continuous Time ◽  
Large Scale ◽  
Closed Loop ◽  
Reference Signal ◽  
Sufficient Conditions ◽  
Preview Control ◽  
Correlation Matrices ◽  
Large Scale Systems ◽  
Augmented System ◽  
Limiting Condition

In this paper, the problem of optimal preview control is studied for a class of linear continuous-time large-scale systems. We first construct an augmented system including the error signal and the reference signal to transform the tracking problem into the regulator problem. Then, the controllers are designed for isolated augmented subsystems, which also constitute the controller of large-scale systems. On the basis of proving the asymptotic stability of closed-loop large-scale systems and the existence of the controller, sufficient conditions for reaching optimal preview control are given. In particular, the limiting condition of the correlation matrices is determined by the fact that the total derivative of a positive definite Lyapunov function is negative definite. The numerical simulation indicates that the controller can drive the large-scale systems to track the reference signal without steady-state error, and the tracking effect is improved with the increasing preview length.

scholarly journals Input-to-State Stability of Nonlinear Switched Systems via Lyapunov Method Involving Indefinite Derivative

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-8 ◽  
Author(s):  
Peng Li ◽  
Xiaodi Li ◽  
Jinde Cao
Keyword(s):  
Lyapunov Function ◽  
Switched Systems ◽  
Dwell Time ◽  
Lyapunov Method ◽  
Time Derivative ◽  
Sufficient Conditions ◽  
Average Dwell Time ◽  
Nonlinear Switched Systems

This paper studies the input-to-state stability (ISS) of nonlinear switched systems. By using Lyapunov method involving indefinite derivative and average dwell-time (ADT) method, some sufficient conditions for ISS are obtained. In our approach, the time-derivative of the Lyapunov function is not necessarily negative definite and that allows wider applications than existing results in the literature. Examples are provided to illustrate the applications and advantages of our general results and the proposed approach.

Generalized H2 Filtering for Discrete-Time Switched Systems with Multiple Time-Varying Delays

2012 ◽  
Vol 562-564 ◽  
pp. 1646-1649 ◽  
Author(s):  
Rong You Zhang ◽  
Ni Zhang
Keyword(s):  
Discrete Time ◽  
Switched Systems ◽  
Filter Design ◽  
Design Method ◽  
Sufficient Conditions ◽  
Design Procedure ◽  
Jensen Inequality ◽  
Linear Matrix ◽  
Multiple Time ◽  
Time Varying

The generalized H2 filtering problem is investigated for linear discrete-time switched systems with multiple time-varying delays. By constructing the piecewise Lyapunov-Krasovskii functionals, employing Jensen inequality and slack variables, the delay-dependent sufficient conditions are derived for the filter-error system to be stable with a H2 performance. Based on the established results, the filter design method is presented in terms of the linear matrix inequalities (LMI). The design procedure is brief and easy to compute. The optimal filter can be solved with LMI toolbox of MATLAB directly. Finally, the simulation results illustrate the effectiveness and feasibility of the proposed method.

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