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Adaptive Fuzzy Output Regulation for Unmanned Surface Vehicles with Prescribed Performance
Shaobao Li,Tingting Ma,Xiao-yuan Luo,Zhenyu Yang 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.2
Dynamics of an unmanned surface vehicle (USV) is usually hard to be modeled accurately due to system uncertainties and disturbances, which can significantly reduce system control performance. To guarantee a satisfied control performance under modeling uncertainties and disturbances, a novel control scheme combining adaptive fuzzy output regulation control and prescribed performance control is proposed in this paper. The unknown nonlinear dynamics of the USV is firstly approximated by a fuzzy logic system, and then an adaptive output regulation control law is developed using backstepping approach for the USV to track a reference system while rejecting disturbances and approximation errors induced by the fuzzy logic system. Meanwhile, the prescribed performance control technique is combined to the adaptive output regulation control design to reach a desired control performance in spite of the unknown system dynamics and disturbances. A simulation study is finally provided to demonstrate the effectiveness of the proposed approach.
Xiao-yuan Luo,Xiaolei Li,Shaobao Li,Zhongping Jiang,Xin-Ping Guan 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.1
This paper investigates the leader-follower flocking problem of multi-agent systems. The leader withinput noise is estimated by a proposed continuous-time information weighted Kalman consensus filter (IWKCF)for agents. A novel distributed flocking algorithm based on the IWKCF is further presented to make agents achieveflocking to the leader. It is shown that the proposed flocking algorithm based on the continuous-time IWKCFis asymptotically stable. Applying the topology optimization scheme, the communication complexity of systemtopologies of multi-agent systems is effectively reduced. Finally, simulations are provided to demonstrate theeffectiveness of the proposed results.