-
作者：Estrada, Manuel A.; Fridman, Leonid; Moreno, Jaime A.
作者单位：Universidad Nacional Autonoma de Mexico; Universidad Nacional Autonoma de Mexico
摘要：This article presents an innovative framework for passive fault-tolerant control (FTC) based on the Lyapunov redesign utilizing sliding mode controllers (SMC). The article introduces three schemes for passive FTC design. First, it advocates employing the Lyapunov redesign in the FTC design with the unit SMC, resulting in a generation of a discontinuous control signal. The article establishes novel conditions for system insensibility concerning the norm of actuator faults. To address chattering...
-
作者：Navarro, Luiz; Maggiore, Manfredi
作者单位：University of Toronto
摘要：This article presents a hybrid controller to stabilize a class of closed orbits for mechanical systems with degree of underactuation one. The controller has a hierarchical structure, whereby at the low level, a smooth feedback enforces a virtual holonomic constraint in a family, while at the high level, a supervisor selects from within the family the constraint to be enforced. To illustrate these ideas, the controller is first used to stabilize oscillations for the acrobot in a manner reminisc...
-
作者：Raj, Phani; Pal, Debasattam
作者单位：Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Bombay
摘要：In this article, we prove multiple criteria for the stability of switched discrete-time linear singular (SDLS) systems. First, we show that if the Lie algebra generated by the flow matrices associated with an SDLS system, consisting of stable subsystems, is solvable, then the SDLS system is globally uniformly exponentially stable. Most results in the literature are based on commutativity and the Lie algebraic results of this note generalize the existing results. Furthermore, using the first re...
-
作者：Wang, Fu-Cheng; Lee, Chung-Hsien
作者单位：National Taiwan University
摘要：This article proposes a novel control theorem called hybrid disturbance response decoupling (HDRD), which facilitates the independent and simultaneous modification of all transmission paths of a multivariable system. The control design for multivariable systems is challenging because feedback controllers can usually affect all the transmission paths concurrently. Improving the performance of some transmission paths might sacrifice the performance of others; therefore, the disturbance response ...
-
作者：Wang, Yuan; Liu, Yungang
作者单位：Shandong University
摘要：Currently, performance-guaranteed global controls, in the output-feedback context, basically need system nonlinearities (or growths) to be output dependent only. This is an essential constraint to the existing works, in which control design is on the premise that the nonlinearities can be implied bounded. Therein, the time-varying gains, which merged performance boundary and output, directly implied the boundedness of the output and in turn that of the output-dependent nonlinearities. This art...
-
作者：Ye, Maojiao; Ding, Lei; Xu, Shengyuan; Shi, Jun
作者单位：Nanjing University of Science & Technology; Nanjing University of Posts & Telecommunications
摘要：In this article, a new regularized consensus perspective is presented for solving distributed optimization problems among a network of heterogeneous linear dynamic agents. The distributed optimization problem can be viewed as a consensus problem, in which the consensus direction should be regularized to optimize the sum of the agents' objective functions. Based on this idea, a regularized consensus mapping is defined, by which a continuous-time distributed optimization algorithm is established...
-
作者：Gonzalez, Andres; Ovalle, Luis; Fridman, Leonid
作者单位：Universidad Nacional Autonoma de Mexico
摘要：Barrier function adaptation for sliding-mode controllers ensures not only that the system trajectories belong to the barrier function width but also the solutions, after a finite time, belong to a smaller positively invariant subset of the barrier function width whose size depends on the upper bound of the perturbations. In this article, the barrier function methodology is extended to a class of signed power-based controllers. It turns out that, whenever the upper bound of the perturbation is ...
-
作者：Liu, Yang; Zuo, Zongyu; Song, Jia; Li, Wenling
作者单位：Beihang University; Beihang University; Beihang University
摘要：In this article, the fixed-time consensus control is addressed for general linear multiagent systems guided by a dynamic leader with control inputs. A new fixed-time consensus protocol is proposed based on the specific coordinate transformation and a distributed observer to estimate the leader's state information, provided that each agent in the group is controllable. It is proved that the consensus can be realized within a finite time, and an upper bound of the convergence time is also given ...
-
作者：Wang, Miaomiao; Tayebi, Abdelhamid
作者单位：Huazhong University of Science & Technology; Lakehead University; Western University (University of Western Ontario)
摘要：This article explores the design of hybrid feedback for a class of affine nonlinear systems with topological constraints that prevent global asymptotic stability. A new hybrid control strategy is introduced, which differs conceptually from the commonly used synergistic hybrid approaches. The key idea involves the construction of a generalized synergistic Lyapunov function whose switching variable can either remain constant or dynamically change between jumps. Based on this new hybrid mechanism...
-
作者：Kitsos, Constantinos; Fridman, Emilia
作者单位：Tel Aviv University
摘要：This work concerns the exponential stabilization of underactuated linear homogeneous systems of $m$ parabolic partial differential equations (PDEs) in cascade (reaction-diffusion systems), where only the first state is controlled either internally or from the right boundary and in which the diffusion coefficients are distinct. For the distributed control case, a proportional-type stabilizing control is given explicitly. After applying modal decomposition, the stabilizing law is based on a tran...
