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Bo Li,Zengqiang Chen,Chun-yan Zhang,Zhong-Xin Liu,Qing Zhang 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.3
In this paper, containment control problem in directed networks for second-order multi-agent systemswith inherent nonlinear dynamics and time-delays are investigated. A distributed control protocol is proposedfor each follower using the relative states among neighboring agents. Based on Lyapunov-Razumikhin theorem,some sufficient conditions in terms of linear matrix inequalities (LMIs) are derived to ensure that all followersasymptotically converge to the convex hull spanned by the dynamic leaders. Finally, simulation results are presentedto illustrate the effectiveness of the conclusion.
Zhengguang Ma,Zengqiang Chen,Zhong-Xin Liu 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.6
In this paper, the consensus problems of multiple agents with continuous-time single-integrator dynamicsare studied, where each agent can obtain the position data of its neighboring agents at discrete-time points by usingthe periodic sampling technology and zero-order hold circuit. The smart leader is introduced, which can adjust theinteraction strength between itself and the target point according to the state errors between itself and its neighboringfollowers. The modified leader-following consensus problem is defined as the leader-following consensus problemwhen the smart leader is adopted. Different leader-following consensus protocols are obtained for the multi-agentsystems with or without sampling delays. The theoretical results, which are analysed with Lyapunov stability theory,can decrease the tracking error of the system, especially for the multi-agent systems with disturbance generated byactuator faults. Some simulation examples and real experiments are presented for illustration.
Grey Wolf Optimization based Active Disturbance Rejection Control Parameter Tuning for Ship Course
Jia Ren,Zengqiang Chen,Yikang Yang,Mingwei Sun,Qinglin Sun,Zenghui Wang 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.3
It is important to control the ship course in complicated ocean environment. In this paper, a Grey Wolf Optimization (GWO) based Active Disturbance Rejection Control (ADRC) tuning method is proposed in the application of the ship course. Here, GWO is used to tune the parameters of ADRC. To validate the performance of the proposed method, some simulations have been carried out and the results are compared with the results of other tuning methods, such as, Harris Hawks Optimization (HHO), Particle Swarm Optimization (PSO), Q-learning and manual tuning. To test the stability of different tuning methods, the cases of no disturbance, constant value disturbance, second-order wave force disturbance, white noise disturbance and mixed disturbance are considered. The robustness of the system for parameters perturbation is analyzed. The research indicates that the GWO based ADRC can achieve better performance than other methods.
Yunbiao Jiang,Zhongxin Liu,Zengqiang Chen,Feng Duan 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.4
In this paper, the coordinated tracking problem of high-order multiagent systems with preset error constraints is studied. Based on the barrier Lyapunov function method, two novel distributed error-constrained consensus controllers are proposed: time-invariant symmetric error-constrained controller and time-varying asymmetric error-constrained controller. The first controller can meet the requirement of a fixed preset error bound for the system, and the system errors converge with the exponential rate. Then, the second controller is designed based on an error-constrained function and error transformation, which can not only meet the time-varying error constraint but also guarantee the lower bound of the convergence rate of the consensus error. That is, the transient performance of the system is guaranteed. Then, the effectiveness of the two controllers is verified and compared by a simulation example. Furthermore, a full-order error-constrained controller is designed by combining the above two methods, and its effectiveness is verified by the coordinated depth tracking simulation of multiple underwater vehicles.
Huixuan Zhuang,Qinglin Sun,Zengqiang Chen,Xianyi Zeng 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.11
In this paper, a novel attitude control method for nonlinear missile system is proposed, which combines backstepping technique with linear active disturbance rejection control (LADRC). Firstly, the nonlinear missilemodel is introduced and transformed into the standard state equation. The linear extended state observer (LESO) is used to estimate the unknown variables. Compared with PID control method, the homologous LADRC designensures that the state variables of the closed-loop system converge to the reference state. The stability of LESO and LADRC is theoretically analyzed and proved. A large number of comparative simulations show the effectiveness ofthe method. The simulation results show that LADRC has better control performance than SMC and PID method.
Huixuan Zhuang,Qinglin Sun,Zengqiang Chen,Xianyi Zeng 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.6
Robust flight control laws based on back-stepping technology and ADRC method are designed for attitude control of a non-linear aircraft system. First, non-linear aircraft model is introduced and converted to standard equation of state. Then, the extended state observer is applied to estimate the unknown variables, the homologous ADRC is designed to ensure the state variables of the CLS to astringe to the reference state. Next, the stability of ESO and ADRC are analyzed and proven theoretically. At last, the effectiveness of this method is illustrated by extensive comparative simulations. The results acquired from simulation attest that ADRC can achieve better control performance than PID and SMC method.
Quantitative Analysis of Critical Limitation in Using Extended State Observer
Mingwei Sun,Yi Li,Zenghui Wang,Zengqiang Chen 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.3
Active disturbance rejection control (ADRC) has been successfully widely applied. The extended stateobserver (ESO) is a crucial component of ADRC to deal with uncertainties in many control systems. Althoughthe nominal stability of ADRC was proved by adopting a sufficiently fast observer with a performance recoveryprinciple, it is difficult to be employed in practice because severe oscillation or even instability might be triggeredif the fast observer was used. This paper investigates the reason behind this phenomenon within the frameworkof input time-delay sensitivity for a typical first-order system, which can provide an insightful understanding ofADRC. The positive root of the polynomial which determines the maximal input time-delay maintaining closed loopstability is quantitatively analyzed and the relationship among the bandwidth of ESO, other control parametersand the allowable input time-delay is thoroughly studied. Finally, numerical examples are presented to validate thecorresponding theoretical results.
Shuang Liang,Zhong-Xin Liu,Zengqiang Chen 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.4
In this paper, the leader-following exponential consensus problem of discrete-time multi-agent systems with time-varying delay is investigated. For systems with interconnected topology being directed and mobile agents being able to communicate with each other at some disjoint time intervals, a new distributed consensus protocol is proposed. By model transforming, it is shown that the consensus problem can be cast into the stability problem for discrete-time multi-agent systems. In light of the multiple Lyapunov stability analysis and the linear matrix inequality method, some new sufficient conditions are derived for guaranteeing the exponential consensus of discrete-time multi-agent systems under fixed topology and switching topology. Moreover, the corresponding gain matrices are also obtained. Finally, simulation results are provided to illustrate the effectiveness of the theoretical results.
Distributed Convex Optimization for Flocking of Nonlinear Multi-agent Systems
Qing Zhang,Zhikun Gong,Zhengquan Yang,Zengqiang Chen 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.5
A distributed optimization problem with differentiable convex objective function is discussed forcontinuous-time multi-agent systems with flocking behavior of a nonlinear continuous function. The goal of thispaper is to design a controller by using only local interaction information, thus making velocities of all agents be thesame. Then the stability of the multi-agent systems is proved and the velocities converge to the value minimizingthe sum of local objective functions. Moreover, the paper got some sufficient conditions for the consensus and theoptimization. Finally, a numerical case is used to verify the analytical results.
A Novel Leader-following Consensus of Multi-agent Systems with Smart Leader
Fu-Yong Wang,Zhong-Xin Liu,Zengqiang Chen 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.4
This article studies the leader-following consensus problem for mixed-order multi-agent systems with a leader. Different from the traditional leader which is independent of all the other agents, the leader, called smart leader, can obtain and utilize the feedback information from its neighbors at some disconnected time intervals. A new distributed consensus control protocol based on intermittent control is developed for leader-following consensus with a smart leader. Moreover, the smart leader can adjust the control protocol based on the feedback information from its neighbors. With the aid of Lyapunov function, some sufficient conditions are derived for leader-following consensus of multi-agent systems with mixed-order dynamics under fixed directed topology. In addition, the similar results are obtained under switching directed topology. Finally, simulation results are provided to verify the correctness and effectiveness of theoretical results.