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Xiongfeng Deng,Xiuxia Sun,Shuguang Liu 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.8
In this paper, the consensus problem of leader-following nonlinear multi-agent systems with packet dropout is addressed. The iterative learning control method is applied to design the control protocol. Then, a distributed control protocol is presented, and a sufficient condition is derived. In addition, the Bernoulli distribution process is introduced to model the packet dropout case, where the dropout rate is converted into a stochastic parameter. The convergence of proposed control protocol is analyzed by norm theory. It is proved that, when there exists the packet dropout, the output of all the following agents can track the trajectory of leader under the proposedcontrol protocol. Finally, two examples are provided to illustrate the validity of the theoretical analysis.
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Leader-Following Consensus Control of Nonlinear Multi-Agent Systems with Input Constraint
Xiongfeng Deng,Xiuxia Sun,Shuguang Liu 한국항공우주학회 2019 International Journal of Aeronautical and Space Sc Vol.20 No.1
This paper investigates the consensus control problem of leader-following nonlinear multi-agent systems with input constraint and directed communication topology. First, a general control protocol is given to solve the consensus of the multi-agent systems without input constraint. Then, the case of input constraint is considered, a fuzzy system is applied in constrained control protocol design. Also, the assumption that the Lipschitz condition for nonlinear item should be satisfied in many papers is not considered in this work. The convergence of the proposed control protocols is analyzed using the sliding mode control approach, Lyapunov stability theory and graph theory. Finally, two examples are provided to illustrate the effectiveness of the theoretical analysis.
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Boyang Zhang,Xiuxia Sun,Shuguang Liu,Xiongfeng Deng 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.12
The complicated and constrained reconfiguration optimisation for unmanned aerial vehicles (UAVs) is a challenge, particularly when multi-mission requirements are taken into account. In this study, we evaluate the use of the adaptive differential evolution-based centralised receding horizon control approach to achieve the formation reconfiguration along a given formation group trajectory for multiple unmanned aerial vehicles in a three-dimensional (3D) environment. A rolling optimisation approach which combines the receding horizon control method with the adaptive differential evolution algorithm is proposed, where the receding horizon control method divides the global control problem into a series of local optimisations and each local optimisation problem is solved by an adaptive differential evolution algorithm. Furthermore, a novel quadratic reconfiguration cost function with the topology information of UAVs is presented, and the asymptotic convergence of the rolling optimisation is analysed. Finally, simulation examples are provided to illustrate the validity of the proposed control structure.
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Boyang Zhang,Xiuxia Sun,Shuguang Liu,Xiongfeng Deng 한국항공우주학회 2019 International Journal of Aeronautical and Space Sc Vol.20 No.4
This paper studies the extended state observer-based state space predictive control approach to deal with the multiple unmanned aerial vehicle formation flight with unknown disturbances. The distributed control problem for a class of multiple unmanned aerial vehicle systems with reference trajectory tracking and disturbance rejection is formulated. Firstly, a local distributed controller is designed by using the state space predictive control approach based on an error model to achieve stable tracking. Then, a feedforward compensation controller is introduced by using the extended state observer to estimate and compensate disturbances and improve the ability of anti-interference. Besides, the bounded stability of the designed extended state observer is analyzed as well. Finally, the simulation examples are provided to illustrate the validity of the proposed control structure.
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Boyang Zhang,Xiuxia Sun,Shuguang Liu,Xiongfeng Deng 한국항공우주학회 2020 International Journal of Aeronautical and Space Sc Vol.21 No.2
The complicated formation flight for multi-unmanned aerial vehicles is a challenge, especially when multi-mission requirements are taken into account. This paper studies the adaptive differential evolution-based distributed model predictive control approach to deal with the multi-unmanned aerial vehicle flight achieving obstacle/collision avoidance and formation keeping simultaneously in the complex environment. Specifically, the distributed model predictive controller is designed to achieve stable flight for each unmanned aerial vehicle as well as taking the state and input saturation into account, where the local optimization problem is solved by the adaptive differential evolution algorithm. Besides, the adaptive adjustment to the prediction horizon for the model predictive controller is introduced, while the asymptotic convergence of the rolling optimization is analyzed as well. Finally, simulation examples are provided to illustrate the validity of the proposed control structure.
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Reactivity of Brönsted acid ionic liquids as dual solvent and catalyst for Fischer esterifications
Zuojun Wei,Feijin Li,Huabin Xing,Qilong Ren,Shuguang Deng 한국화학공학회 2009 Korean Journal of Chemical Engineering Vol.26 No.3
Several water-stable ionic liquids with different acidity and affinity were synthesized and applied as both solvents and acid catalysts for Fischer esterification of ethanol reacting with four aliphatic carboxylic acids (acetic acid, n-hexanoic acid, lauric acid, and stearic acid). Among the studied ionic liquids, [(n-bu-SO3H) MIM][HSO4] (3-butyl- 1-(butyl-4-sulfonyl) imidazolium sulfate) and [(n-bu-SO3H) MIM][p-TSO] (3-butyl-1-(butyl-4-sulfonyl) imidazolium toluenesulfonate) show higher reactivity for the production of ethyl esters. The catalytic activities of these ionic liquids are strongly dependent on the acidity of their anions and cations, as well as their hydrophilicity and affinity with the reactants. Water refluxing through the condenser may be another important reason for obtaining high conversion of esterification, indicating a water-sequester process is still needed in order to obtain a higher yield of ester in the ionic liquid catalyzed esterification system. Kinetics studies show the conversions of the acids increase with reaction temperature and time, and reach equilibrium within about two hours. The apparent activation energies are 39.1±2.0, 49.7± 2.5, 51.4±2.5 and 59.3±3.0 kJ·mol−1 for the formation of ethyl acetate, ethyl n-hexanoate, ethyl laurate and ethyl stearate, respectively.
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