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  • Regular PapersFebruary 1, 2023

    LPV Model-based Adaptive MPC of an eVTOL Aircraft During Tilt Transition Subject to Motor Failure

    Shen Qu, Guoming Zhu*, Weihua Su, and Sean Shan-Min Swei

    International Journal of Control, Automation and Systems 2023; 21(2): 339-349

    https://doi.org/10.1007/s12555-021-0915-1

    Abstract

    Abstract : This paper applies novel LPV (linear parameter-varying) model and MPC (model predictive control) methods to a tilt-transition process with rotor failure for electric vertical take-off and landing aircraft of six distributed electric rotors with a fixed-wing for level flight, where two rotors are tiltable to generate variable thrust vector during the tilt-transition from hovering to steady-state level flight and the rest of four cannot be tilted. During the level flight, the aerodynamic lift induced by fixed wing maintains flight altitude. Based on a predefined nominal tilting trajectory scheduled by tilt-rotor angular position and the failed rotor speed, a discrete-time LPV model is constructed based on significantly reduced number of linear time invariant models obtained by linearizing the nonlinear eVTOL aircraft model along the tilting trajectory, where tilt-rotor angle and failed rotor speed can be measured in real-time. An LPV modeling error evaluation method is proposed based on the σ shifted H2 norm, and adaptive model predictive controller is designed with the dynamic reference compensation. Simulation study indicated the success of the adaptive MPC strategy based on tilt-transition LPV model with rotor failure.

  • Regular PapersFebruary 1, 2023

    Adaptive Prescribed-time Control for Coupled 6-DOF Spacecraft Formation Flying

    Li Chen, Yongyan Sun, Xiaowei Shao*, Junli Chen, and Dexin Zhang

    International Journal of Control, Automation and Systems 2023; 21(2): 350-358

    https://doi.org/10.1007/s12555-021-0671-2

    Abstract

    Abstract : This paper studies the prescribed-time spacecraft formation flying problem under known and unknown external disturbance. The coupled 6-degrees-of-freedom relative kinematics and dynamics for spacecraft are modeled by using exponential coordinates of SE(3). With the help of the linear time-varying Lyapunov inequality based prescribed-time stability theorem, a novel global adaptive prescribed-time time-varying high-gain control law is designed by backstepping. It is shown that the designed controller is bounded. Numerical simulations verify the effectiveness of the proposed control method.

  • Regular PapersFebruary 1, 2023

    Prescribed-time Stabilization for a Class of Nonlinear Systems with Control Singularities

    Lulu Fu, Ruicheng Ma*, and Jun Fu

    International Journal of Control, Automation and Systems 2023; 21(2): 359-366

    https://doi.org/10.1007/s12555-021-0899-x

    Abstract

    Abstract : This paper studies the prescribed-time stabilization of a class of nonlinear systems with control singularities. The settling time is independent of not only the design parameters but also the initial conditions, and can be set according to per our will. By using backstepping, we simultaneously construct a control Lyapunov function (CLF) with singularity and a control law to prescribed-time stabilize the equilibrium point of the studied system in settling time, and avoid all trajectories from crossing the control singularity set. Further, the feasibility region is consistent with the attraction region, and the attraction region is also maximized. That is, the positive invariance condition is achieved. Finally, two examples are presented to illustrate the effectiveness of our proposed method.

  • Regular PapersFebruary 1, 2023

    Abstract

    Abstract : In this paper, the problems on the exponential stability in p-th (p ≥ 2)-moment and the almost sure exponential stability for neutral stochastic differential delay equation with Markovian switching and impulses are analyzed. By establishing an impulsive delay integral inequality, the Lyapunov theorem on the exponential stability in p-th (p ≥ 2)-moment is given. Then, by using the Borel-Cantelli lemma, the almost sure exponential stability theorem is also proved. Two major advantages of these two results are that the differentiability or continuity of the delay function is not required, and that while considering the concerned problem, the difficulty coming from the simultaneous presence of the neutral item, the impulsive disturbance and the stochastic perturbations is overcome. An example is provided to examine the effectiveness and potential of the theoretic results obtained. "

  • Regular PapersFebruary 1, 2023

    Approximating the Controllability Robustness of Directed Random-graph Networks Against Random Edge-removal Attacks

    Yang Lou*, Lin Wang, Shengli Xie, and Guanrong Chen*

    International Journal of Control, Automation and Systems 2023; 21(2): 376-388

    https://doi.org/10.1007/s12555-021-0831-4

    Abstract

    Abstract : Network controllability robustness reflects how well a networked system can maintain its controllability against destructive attacks. Its performance can be measured by a sequence of values that record the remaining controllability of the network after a sequential node-removal or edge-removal attacks. In this paper, a hybrid approximation (HyA) method is proposed to estimate the controllability robustness performance of large-scale directed random-graph (RG) networks under random edge-removal attacks. HyA sufficiently utilizes the similarity between the generation mechanism of the RG networks and the destructing process of random edge-removal attacks. Two threshold values are set to classify general RG networks as ‘dense’, ‘sparse’, or ‘median’, according to the average degree of each network. A two-phase approximation is applied to ‘sparse’ RG networks, while different threephase approximations are applied to ‘dense’ and ‘median’ RG networks, respectively. Simulation results verify that 1) HyA is able to precisely approximate the controllability curves of RG networks under random edge-removal attacks; 2) HyA is time-efficient as compared to the conventional time-consuming attack simulations.

  • Regular PapersFebruary 1, 2023

    Adaptive Consensus of Nonlinear MASs with Event-triggered Updating Algorithm

    Jiale Yi, Jing Li*, Zhaohui Zhang*, and Xiaobo Li

    International Journal of Control, Automation and Systems 2023; 21(2): 389-399

    https://doi.org/10.1007/s12555-021-0909-z

    Abstract

    Abstract : This paper investigates the consensus problem for a class of nonlinear leader-follower multi-agent systems with event-triggered updating algorithm. Unlike the most existing event-triggered control protocols, the controllers and parameter update laws are event-triggered and transmitted simultaneously by a composite eventtriggered condition. An exponential term of consensus errors is constructed novelly in the event-triggered condition to exclude Zeno behavior and decrease the number of events. Moreover, the stability of the closed-loop system is proved by using the Lyapunov stability theory. At the same time, all the signals in the closed-loop systems are globally bounded and the consensus errors converge to a small neighborhood of origin exponentially under the proposed control schemes. Finally, numerical simulation results illustrate the effectiveness of the proposed control schemes.

  • Regular PapersFebruary 1, 2023

    Dynamic Output Feedback Control and Guaranteed Cost Finite-time Boundedness for Uncertain Switched Linear Systems

    Mingxing Liu, Baowei Wu*, Yue-E Wang, and Lili Liu

    International Journal of Control, Automation and Systems 2023; 21(2): 400-409

    https://doi.org/10.1007/s12555-021-0699-3

    Abstract

    Abstract : This paper is concerned with dynamic quantized output feedback and event-triggered guaranteed cost finite-time H∞ control for uncertain switched linear systems with exogenous disturbance. First, one mode-dependent periodic event-triggered strategy is designed, which means that each subsystem has its own event-triggered mechanism. Meanwhile, the periodic detection of the error greatly reduces the sampling number and avoids the appearance of Zeno behavior. Second, considering the state information of the system is difficult to obtain completely, dynamic quantized output feedback controllers based on logarithmic quantizer are used to stabilize the switched system. Besides, combine the multiple Lyapunov functionals and the average dwell time condition, the sufficient condition of finite-time boundedness with H∞ performance level is obtained for the uncertain switched system. Finally, the effectiveness of the proposed method is verified a practical example.

  • Regular PapersFebruary 1, 2023

    Output Feedback Stabilization for an ODE Coupled with a Wave Equation with Variable Coefficients

    Yan Xing Zhao, Jun Jun Liu*, and Yan Na Jia

    International Journal of Control, Automation and Systems 2023; 21(2): 410-418

    https://doi.org/10.1007/s12555-021-1000-5

    Abstract

    Abstract : In this paper, we are concerned with the output feedback problem for coupled ODE-wave systems subject to spatially-varying coefficients. An original transformation is designed to turn the wave equation into an equation of the same type with constant coefficient and low order term. Taking advantage of the backstepping method, a state observer is constructed by non-collocated boundary displacement and velocity measurement. Output feedback on the based of the observer output feedback is then constructed, which makes use of the backstepping method to make the system exponentially stable. Finally, we demonstrate the well-posed and the exponential stability of the closed-loop system.

  • Regular PapersFebruary 1, 2023

    Global Fixed-time Stabilization for Chained Nonholonomic Systems via Output Feedback Control

    Xiandong Chen and Xianfu Zhang*

    International Journal of Control, Automation and Systems 2023; 21(2): 419-428

    https://doi.org/10.1007/s12555-021-0980-5

    Abstract

    Abstract : This paper studies the fixed-time output feedback stabilization problem for chained nonholonomic systems. By applying the switching control and bi-limit homogeneous techniques, it is firstly constructed two fixedtime state feedback stabilizing controllers for the considered systems. Then, a new state observer with a formalized switching law is proposed to fixed-time estimate system states, whose high-order terms are applied to get uniform convergence regardless of initial conditions and low-order terms are aimed to the exact convergence in finite time. Finally, based on the bi-limit homogeneous technique and Lyapunov stability theorem, fixed-time output feedback stabilizing controllers, one of which is discontinuous with a specific switching control law and the other is continuous, are constructed and the fixed-time output feedback stabilization of the considered systems is thus guaranteed. An example is presented to show the feasibility of the proposed control strategy.

  • Regular PapersFebruary 1, 2023

    Adaptive Fixed-time Output Feedback Tracking Control for Uncertain Nonlinear Systems

    Shuchao Hou and Lin Zhao*

    International Journal of Control, Automation and Systems 2023; 21(2): 429-439

    https://doi.org/10.1007/s12555-021-0999-7

    Abstract

    Abstract : This article studies the fixed-time output feedback tracking control based on the command filtered backstepping method for nonlinear systems. The approximation technique of neural network is used to estimate uncertain dynamics. The fixed-time filter is introduced to overcome the problem of complexity explosion, and combined with the compensation signal to reduce the filtering error. It is worth noting that the convergence time of fixed-time control is predetermined, and there is no need to know the information of the system initial value. The final results show that the tracking error reach to the expected neighborhood near the origin in fixed-time. Eventually, the effectiveness of the proposed fixed-time control strategy is demonstrated by a simulation case."

IJCAS
April 2024

Vol. 22, No. 4, pp. 1105~1460

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IJCAS

eISSN 2005-4092
pISSN 1598-6446