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In this paper, we investigate distributed consensus problems for multiple miniature aerial vehicles (MAVs) with nonlinear dynamics and uncertainty. We develop distributed consensus protocol to solve regulation synchronization problem for leaderless MAVs with directed interaction topology. Adaptive control algorithms are used locally for each vehicle to deal with nonlinear dynamics and uncertainty...
Due to the rapid growth in scale and complexity of information networks, self-organizing systems have been focused on for realizing new network control architectures that have high scalability, adaptability, and robustness. However, in self-organizing systems, the uncertainty (incompleteness, ambiguity, and dynamicity) of information observable for components in the system can lead to the slow adaptation...
Fuzzy logic systems have been extensively applied for solving many real world application problems because they are found to be universal approximators and many methods, particularly, gradient descent (GD) methods have been widely adopted for the optimization of fuzzy membership functions. Despite its popularity, GD still suffers some drawbacks in terms of its slow learning and convergence. In this...
This paper addresses a terminal sliding mode strategy to control the attitude of quadrotor while achieving the finite time convergence. To deal with system uncertainty and time-varying disturbance, a hybrid controller using single-hidden layer feedforward network (SLFN) and disturbance observer (DOB) is proposed. Fast terminal sliding mode surface is designed to construct the sliding mode control...
This paper presents a generalized iterative learning control (ILC) design in the frequency domain with experimental validation. The optimal ILC learning function and robustness filter function are simultaneously optimized by solving a linear programming problem using frequency response functions. Moreover, the design realizes an optimal trade-off between robust convergence, converged tracking performance,...
This work investigates the adaptive finite-time tracking problem for a class of strict-feedback nonlinear systems with parametric uncertainties and symmetric constant output constraint. A tan-type Barrier Lyapunov Function (BLF) is proposed to ensure the boundedness of the output tracking error, and a new tuning function is given to eliminate the effect of uncertainties. It is theoretically shown...
Aiming at attitude control of the advanced Blendwing-body (BWB) layout aircraft with aerodynamic, center of gravity and inertial parameters' uncertainties, a new improved fast non-singular terminal sliding mode control (IFNTSM) method is proposed in this paper. Compared to the conventional terminal sliding mode (TSM) control method, IFNTSM guarantees to reach the equilibrium in an improved finite...
Adaptive iterative learning control is a popular approach to control parametric time-varying systems over finite time interval. However, initial resetting condition limits the application of a large amount of learning control algorithms. In this paper, we propose a suboptimal iterative learning control for a class of dynamic parametric systems to solve this problem. An error-tracking control strategy...
In this paper, a composite integral terminal sliding mode surface is developed, and an adaptive synchronization control scheme is proposed accordingly for multiple robotic manipulators with actuator saturation. By combining the terminal sliding mode with integral terms, the presented scheme is able to reduce the static tracking errors and improve the synchronization performance. Moreover, the system...
This paper presents the application of runs test for indirect consideration of observation's autocorrelation in estimation of a standard uncertainty of arithmetic mean value. At first stage researches were performed by Monte Carlo (MC) simulation for two kind's random signals: first order autoregression (AR) and moving averaging (MA). Comparison of theoretical values of effective number of observations...
This paper considers the problem of decentralized, cooperative, and dynamic self-localization in wireless sensor networks. In particular, we are interested in a restrictive but very realistic scenario where few anchors are deployed and each anchor whose location is priori known may only communicate with very few agents (e.g. just one agent) whose location is unknown and to-be-estimated. The lack of...
This paper presents an optimal Day-Ahead Electricity Market (DAM) bidding strategy for an aggregator leveraging a pool of residential prosumers: residential customers with local photovoltaic (PV) production and plug-in electric vehicle (PEV) charging flexibility. The aggregator's point-of-view differs from the social planner angle that is taken in the majority of the existing literature, mainly the...
This paper compares the stochastic convergence of the Uniform Random number generators of two simulation software namely Matlab and Python and establishes the significance in choosing the right random number generator for error propagation studies. It further discusses about the application of Gaussian type of these random number generators to nonlinear cases of Error propagation using the Monte Carlo...
The purpose of the paper is to propose a new control scheme in active front steering (AFS) for vehicle stability using disturbance observer method. In the paper, the ideal yaw rate can be calculated on the linear two-degrees-of-freedom vehicle model. In addition, the actual sideslip angle can also be estimated by using a state observer. Based on this, two kinds of baseline AFS controllers are proposed...
This paper develops a sliding mode control (SMC) approach for a class of uncertain nonlinear systems with unmatched uncertainties/disturbances. The newly proposed method is based on a novel fixed-time convergent sliding mode disturbance observer which can estimate the unmatched disturbance in a fixed time (time whose upper estimate is independent of the initial conditions). By designing a novel sliding...
This paper presents a variable coefficient nonsingular fast terminal sliding mode (VCNFTSM) control method with the extended state observer (ESO) for a class of second-order uncertain SISO nonlinear systems subject to external disturbance. First, a new variable coefficient double exponential reaching law is combined with NFTSM surface function to get finite time fast convergence in both reaching phase...
In this paper, an integral sliding mode based tracking control (ISMTC) scheme is proposed for a marine surface vehicle (MSV) in order to achieve accurate tracking performance. Salient features of the ISMTC scheme are as follows: (1) The integral sliding mode (ISM) technique is employed to realize accurate tracking performance, whereby a finite-time unknown observer is designed and integrated into...
A robust entry guidance law with finite time convergence is designed for drag-tracking in this paper. The bank angle is regarded as the control variable. First, a robust sliding mode control (SMC) method, which can guarantee the finite time convergence, is proposed for a class of nonlinear systems with uncertainties and disturbances. Then, after the drag dynamics is given, the finite time guidance...
Over the last few years, the combination synchronization of chaotic system receives a special attention. This paper introduces the idea of combination synchronization into complex networks. Based on sliding mode control (SMC) principle, the finite-time combination synchronization (FTCS) of four uncertain complex networks which combining as the form of A+B+C-D is investigated. And there are unknown...
Iterative learning control (ILC) is an approach suitable for systems which repeatedly perform a tracking task over a fixed time interval. However little attention has been paid to the case of multiple input, multiple output (MIMO) systems. In this paper theoretical results are derived and establish a close link between increased interaction, reduced robustness, slower convergence and greater control...
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