This paper proposes a distributed event-triggered control(ETC)framework to address cooperative target fencing challenges in UAV swarm.The proposed architecture eliminates the reliance on preset formation parameters wh...This paper proposes a distributed event-triggered control(ETC)framework to address cooperative target fencing challenges in UAV swarm.The proposed architecture eliminates the reliance on preset formation parameters while achieving multi-objective cooperative control for target fencing,network connectivity preservation,collision avoidance,and communication efficiency optimization.Firstly,a differential state observer is constructed to obtain the target's unmeasurable states.Secondly,leveraging swarm selforganization principles,a geometric-constraint-free distributed fencing controller is designed by integrating potential field methods with consensus theory.The controller dynamically adjusts inter-UAV distances via single potential function,enabling coordinated optimization of persistent network connectivity and collision-free motion during target fencing.Thirdly,a dual-threshold ETC mechanism based on velocity consensus deviation and fencing error is proposed,which can be triggered based on task features to dynamically adjust the communication frequency,significantly reduce the communication burden and exclude Zeno behavior.Theoretical analysis demonstrates the stability of closed-loop systems.Multi-scenario simulations show that the proposed method can achieve robust fencing under target maneuverability,partial UAV failures,and communication disturbances.展开更多
Remote control process system with distributed time-delay has attracted much attention in different fields.In this paper,non-linear remote control of a single tank process system with wireless network is considered.To...Remote control process system with distributed time-delay has attracted much attention in different fields.In this paper,non-linear remote control of a single tank process system with wireless network is considered.To deal with the distributed time-delay in a large-scale plant,the time-delay compensation controller based on DCS devices is designed by using operator theory and particle filter.Distributed control system(DCS)device is developed to monitor and control from the central monitoring room to each process.The particle filter is a probabilistic method to estimate unobservable information from observable information.First,remote control system and experimental equipment are introduced.Second,control system based on an operator theory is designed.Then,process system with distributed time-delay using particle filter is carried out.Finally,the actual experiment is conducted by using the proposed time-delay compensation controller.When estimating with the proposed method,the result is close to the case in which the distributed time-delay does not exist.The effectiveness of the proposed control system is confirmed by experiment results.展开更多
为探究在集散式控制系统(distributed control system,DCS)危险排除过程中控制员不同信息搜索策略对排险任务绩效的影响及认知负荷的中介效应,基于虚拟现实技术、皮肤电采样和眼动追踪技术构建模拟DCS工控平台,招募20名相关专业被试参...为探究在集散式控制系统(distributed control system,DCS)危险排除过程中控制员不同信息搜索策略对排险任务绩效的影响及认知负荷的中介效应,基于虚拟现实技术、皮肤电采样和眼动追踪技术构建模拟DCS工控平台,招募20名相关专业被试参与模拟排险实验并对其认知负荷及排险绩效进行量化,使用眼动轨迹匹配法判断被试的信息搜索模式,研究认知负荷的中介效应及中介机理。研究结果表明:不同信息搜索策略会显著影响任务绩效;认知负荷对该影响的中介效应高达89.66%,表明信息搜索策略主要通过影响认知负荷来间接作用于排险任务绩效,认知负荷越高,任务绩效越低;逻辑系统搜索策略能通过高效图式匹配减少认知资源消耗,显著抑制认知负荷增长,任务绩效表现最佳;空间系统搜索较难抑制认知负荷,任务绩效较差;随机搜索被试认知负荷显著高于其他组,绩效表现最差;此外,不同认知负荷水平下被试的信息搜索策略没有明显转变倾向。研究结果可为DCS控制人员的考核和培训提供理论支撑。展开更多
This paper investigates the sliding-mode-based fixed-time distributed average tracking (DAT) problem for multiple Euler-Lagrange systems in the presence of external distur-bances. The primary objective is to devise co...This paper investigates the sliding-mode-based fixed-time distributed average tracking (DAT) problem for multiple Euler-Lagrange systems in the presence of external distur-bances. The primary objective is to devise controllers for each agent, enabling them to precisely track the average of multiple time-varying reference signals. By averaging these signals, we can mitigate the influence of errors and uncertainties arising dur-ing measurements, thereby enhancing the robustness and stabi-lity of the system. A distributed fixed-time average estimator is proposed to estimate the average value of global reference sig-nals utilizing local information and communication with neigh-bors. Subsequently, a fixed-time sliding mode controller is intro-duced incorporating a state-dependent sliding mode function coupled with a variable exponent coefficient to achieve dis-tributed average tracking of reference signals, and rigorous ana-lytical methods are employed to substantiate the fixed-time sta-bility. Finally, numerical simulation results are provided to vali-date the effectiveness of the proposed methodology, offering insights into its practical application and robust performance.展开更多
针对直流微电网中储能系统功率波动、负载侧负荷频繁投切等不确定因素引起母线电压产生波动的问题,以储能系统中三相交错并联双向DC-DC变换器为研究对象,提出一种基于级联有限时间扩张状态观测器(cascade finite-time extended state ob...针对直流微电网中储能系统功率波动、负载侧负荷频繁投切等不确定因素引起母线电压产生波动的问题,以储能系统中三相交错并联双向DC-DC变换器为研究对象,提出一种基于级联有限时间扩张状态观测器(cascade finite-time extended state observer,CFT-ESO)的微分平坦和改进型超螺旋滑模双闭环复合控制策略.首先,建立三相交错并联双向DC-DC变换器的数学模型,并根据微分平坦理论将其直流系统转化为微分平坦系统,结合两级具有快速收敛性的有限时间扩张状态观测器提高对系统集总扰动的估计精度.其次,采用内环微分平坦控制、外环改进型超螺旋滑模控制的双闭环控制系统,既能提高系统动态响应过程,又能利用高阶滑模控制算法抑制抖振,同时解决变换器升压模式中非最小相位问题.再次,通过Lyapunov理论证明控制系统的稳定性.最后,利用MATLAB/Simulink仿真软件以及搭建实验平台对控制策略进行验证,结果表明,本文所提控制策略能够很好地抵抗扰动,提高系统的暂态性能.展开更多
在两级式AC-DC变换器中,前级功率因数校正(power factor correction,PFC)固有的瞬时功率波动特性会造成母线电压存在二倍频纹波,影响后级CLLLC谐振变换器的输出电压质量。针对以上问题,该文提出了基于二阶广义积分(second order general...在两级式AC-DC变换器中,前级功率因数校正(power factor correction,PFC)固有的瞬时功率波动特性会造成母线电压存在二倍频纹波,影响后级CLLLC谐振变换器的输出电压质量。针对以上问题,该文提出了基于二阶广义积分(second order generalized integral,SOGI)的可变增益母线电压纹波前馈控制方法。采用SOGI提取母线电压纹波信息,基于品质因数Q与电压增益的关系和母线电压纹波对归一化频率的影响,解析了母线电压纹波对CLLLC谐振变换器输出电压的影响机理,得到Q值与前馈增益系数Ka的关系,采用仿真寻优加数据拟合的方法得到前馈可变增益系数曲线。仿真和实验结果表明,相比于无前馈控制,所提控制方法对CLLLC谐振变换器的输出电压纹波具有较好的抑制效果,输出电压纹波降低了72%,验证了所提算法的有效性。展开更多
This paper addresses the cooperative control problem of multiple unmanned aerial vehicles(multi-UAV)systems.First,a new distributed consensus algorithm for second-order nonlinear multi-agent systems(MAS)is formulated ...This paper addresses the cooperative control problem of multiple unmanned aerial vehicles(multi-UAV)systems.First,a new distributed consensus algorithm for second-order nonlinear multi-agent systems(MAS)is formulated under the leader-following approach.The algorithm provides smooth input signals to the agents’control channels,which avoids the chattering effect generated by the conventional sliding mode-based control protocols.Second,a new formation control scheme is developed by integrating smooth distributed consensus control protocols into the geometric pattern model to achieve three-dimensional formation tracking.The Lyapunov theory is used to prove the stability and convergence of both distributed consensus and formation controllers.The effectiveness of the proposed algorithms is demonstrated through simulation results.展开更多
The chattering characteristic of sliding mode control isanalyzed when it is applied in distributed control systems （DCSs）.For a DCS with random time delay and packet dropout, a discreteswitching system model with ti...The chattering characteristic of sliding mode control isanalyzed when it is applied in distributed control systems （DCSs）.For a DCS with random time delay and packet dropout, a discreteswitching system model with time varying sampling period isconstructed based on the time delay system method. The reachinglaw based sliding mode controller is applied in the proposedsystem. The exponential stability condition in the form of linearmatrix inequality is figured out based on the multi-Lyaponov functionmethod. Then, the chattering characteristic is analyzed for theswitching system, and a chattering region related with time varyingsampling period and external disturbance is proposed. Finally, numericalexamples are given to illustrate the validity of the analysisresult.展开更多
With the strong battlefield application environment of the next generation fighter,based on the design of distributed vehicle management system,a fault diagnosis and fault-tolerant control(FTC)method for wing surface ...With the strong battlefield application environment of the next generation fighter,based on the design of distributed vehicle management system,a fault diagnosis and fault-tolerant control(FTC)method for wing surface damage is proposed in this paper.Aiming at three kinds of wing damage modes,this paper proposes a diagnosis method based on the fault decision tree and forms a fault decision tree for wing damage from the aspects of sample database construction,feature parameter extraction,and fault decision tree construction.Based on the fault diagnosis results,the longitudinal control law based on dynamic inverse and the lateral-directional robust control laws based on linear quadratic regulator(LQR)are proposed.From the simulation examples,the fault diagnosis algorithm based on the decision tree can complete the judgment of three wing surface damage modes within 2 ms,and the FTC law can make the fighter quickly return to a stable flight state after a short transient of 1 s,which achieves the fault-tolerant goal.展开更多
The problem on stabilization for the system with distributed delays is researched. The distributed time-delay under consideration is assumed to be a constant time-delay, but not known exactly. A design method is propo...The problem on stabilization for the system with distributed delays is researched. The distributed time-delay under consideration is assumed to be a constant time-delay, but not known exactly. A design method is proposed for a memory proportional and integral （PI） feedback controller with adaptation to distributed time-delay. The feedback controller with memory simultaneously contains the current state and the past distributed information of the addressed systems. The design for adaptation law to distributed delay is very concise. The controller can be derived by solving a set of linear matrix inequalities （LMIs）. Two numerical examples are given to illustrate the effectiveness of the design method.展开更多
文摘This paper proposes a distributed event-triggered control(ETC)framework to address cooperative target fencing challenges in UAV swarm.The proposed architecture eliminates the reliance on preset formation parameters while achieving multi-objective cooperative control for target fencing,network connectivity preservation,collision avoidance,and communication efficiency optimization.Firstly,a differential state observer is constructed to obtain the target's unmeasurable states.Secondly,leveraging swarm selforganization principles,a geometric-constraint-free distributed fencing controller is designed by integrating potential field methods with consensus theory.The controller dynamically adjusts inter-UAV distances via single potential function,enabling coordinated optimization of persistent network connectivity and collision-free motion during target fencing.Thirdly,a dual-threshold ETC mechanism based on velocity consensus deviation and fencing error is proposed,which can be triggered based on task features to dynamically adjust the communication frequency,significantly reduce the communication burden and exclude Zeno behavior.Theoretical analysis demonstrates the stability of closed-loop systems.Multi-scenario simulations show that the proposed method can achieve robust fencing under target maneuverability,partial UAV failures,and communication disturbances.
基金Project(K117K06225)supported by JSPS KAKENHI,Japan
文摘Remote control process system with distributed time-delay has attracted much attention in different fields.In this paper,non-linear remote control of a single tank process system with wireless network is considered.To deal with the distributed time-delay in a large-scale plant,the time-delay compensation controller based on DCS devices is designed by using operator theory and particle filter.Distributed control system(DCS)device is developed to monitor and control from the central monitoring room to each process.The particle filter is a probabilistic method to estimate unobservable information from observable information.First,remote control system and experimental equipment are introduced.Second,control system based on an operator theory is designed.Then,process system with distributed time-delay using particle filter is carried out.Finally,the actual experiment is conducted by using the proposed time-delay compensation controller.When estimating with the proposed method,the result is close to the case in which the distributed time-delay does not exist.The effectiveness of the proposed control system is confirmed by experiment results.
文摘为探究在集散式控制系统(distributed control system,DCS)危险排除过程中控制员不同信息搜索策略对排险任务绩效的影响及认知负荷的中介效应,基于虚拟现实技术、皮肤电采样和眼动追踪技术构建模拟DCS工控平台,招募20名相关专业被试参与模拟排险实验并对其认知负荷及排险绩效进行量化,使用眼动轨迹匹配法判断被试的信息搜索模式,研究认知负荷的中介效应及中介机理。研究结果表明:不同信息搜索策略会显著影响任务绩效;认知负荷对该影响的中介效应高达89.66%,表明信息搜索策略主要通过影响认知负荷来间接作用于排险任务绩效,认知负荷越高,任务绩效越低;逻辑系统搜索策略能通过高效图式匹配减少认知资源消耗,显著抑制认知负荷增长,任务绩效表现最佳;空间系统搜索较难抑制认知负荷,任务绩效较差;随机搜索被试认知负荷显著高于其他组,绩效表现最差;此外,不同认知负荷水平下被试的信息搜索策略没有明显转变倾向。研究结果可为DCS控制人员的考核和培训提供理论支撑。
基金supported by the National Natural Science Foundation of China(61673130).
文摘This paper investigates the sliding-mode-based fixed-time distributed average tracking (DAT) problem for multiple Euler-Lagrange systems in the presence of external distur-bances. The primary objective is to devise controllers for each agent, enabling them to precisely track the average of multiple time-varying reference signals. By averaging these signals, we can mitigate the influence of errors and uncertainties arising dur-ing measurements, thereby enhancing the robustness and stabi-lity of the system. A distributed fixed-time average estimator is proposed to estimate the average value of global reference sig-nals utilizing local information and communication with neigh-bors. Subsequently, a fixed-time sliding mode controller is intro-duced incorporating a state-dependent sliding mode function coupled with a variable exponent coefficient to achieve dis-tributed average tracking of reference signals, and rigorous ana-lytical methods are employed to substantiate the fixed-time sta-bility. Finally, numerical simulation results are provided to vali-date the effectiveness of the proposed methodology, offering insights into its practical application and robust performance.
文摘针对直流微电网中储能系统功率波动、负载侧负荷频繁投切等不确定因素引起母线电压产生波动的问题,以储能系统中三相交错并联双向DC-DC变换器为研究对象,提出一种基于级联有限时间扩张状态观测器(cascade finite-time extended state observer,CFT-ESO)的微分平坦和改进型超螺旋滑模双闭环复合控制策略.首先,建立三相交错并联双向DC-DC变换器的数学模型,并根据微分平坦理论将其直流系统转化为微分平坦系统,结合两级具有快速收敛性的有限时间扩张状态观测器提高对系统集总扰动的估计精度.其次,采用内环微分平坦控制、外环改进型超螺旋滑模控制的双闭环控制系统,既能提高系统动态响应过程,又能利用高阶滑模控制算法抑制抖振,同时解决变换器升压模式中非最小相位问题.再次,通过Lyapunov理论证明控制系统的稳定性.最后,利用MATLAB/Simulink仿真软件以及搭建实验平台对控制策略进行验证,结果表明,本文所提控制策略能够很好地抵抗扰动,提高系统的暂态性能.
基金This work was supported by the Deanship of Scientific Research(DSR)at King Abdulaziz University,Jeddah(G-363-135-1438).
文摘This paper addresses the cooperative control problem of multiple unmanned aerial vehicles(multi-UAV)systems.First,a new distributed consensus algorithm for second-order nonlinear multi-agent systems(MAS)is formulated under the leader-following approach.The algorithm provides smooth input signals to the agents’control channels,which avoids the chattering effect generated by the conventional sliding mode-based control protocols.Second,a new formation control scheme is developed by integrating smooth distributed consensus control protocols into the geometric pattern model to achieve three-dimensional formation tracking.The Lyapunov theory is used to prove the stability and convergence of both distributed consensus and formation controllers.The effectiveness of the proposed algorithms is demonstrated through simulation results.
基金supported by the National Natural Science Fundation of China(5147618751506221)+1 种基金the Natural Science Basic Research Plan in Shaanxi Province of China(2015JQ51792015JM5207)
文摘The chattering characteristic of sliding mode control isanalyzed when it is applied in distributed control systems （DCSs）.For a DCS with random time delay and packet dropout, a discreteswitching system model with time varying sampling period isconstructed based on the time delay system method. The reachinglaw based sliding mode controller is applied in the proposedsystem. The exponential stability condition in the form of linearmatrix inequality is figured out based on the multi-Lyaponov functionmethod. Then, the chattering characteristic is analyzed for theswitching system, and a chattering region related with time varyingsampling period and external disturbance is proposed. Finally, numericalexamples are given to illustrate the validity of the analysisresult.
基金This work was supported by the Defense Industrial Technology Development Program(JCKY2016205C013).
文摘With the strong battlefield application environment of the next generation fighter,based on the design of distributed vehicle management system,a fault diagnosis and fault-tolerant control(FTC)method for wing surface damage is proposed in this paper.Aiming at three kinds of wing damage modes,this paper proposes a diagnosis method based on the fault decision tree and forms a fault decision tree for wing damage from the aspects of sample database construction,feature parameter extraction,and fault decision tree construction.Based on the fault diagnosis results,the longitudinal control law based on dynamic inverse and the lateral-directional robust control laws based on linear quadratic regulator(LQR)are proposed.From the simulation examples,the fault diagnosis algorithm based on the decision tree can complete the judgment of three wing surface damage modes within 2 ms,and the FTC law can make the fighter quickly return to a stable flight state after a short transient of 1 s,which achieves the fault-tolerant goal.
基金supported by the National Natural Science Foundation of China (60804017 60835001+3 种基金 60904020 60974120)the Foundation of Doctor (20070286039 20070286001)
文摘The problem on stabilization for the system with distributed delays is researched. The distributed time-delay under consideration is assumed to be a constant time-delay, but not known exactly. A design method is proposed for a memory proportional and integral （PI） feedback controller with adaptation to distributed time-delay. The feedback controller with memory simultaneously contains the current state and the past distributed information of the addressed systems. The design for adaptation law to distributed delay is very concise. The controller can be derived by solving a set of linear matrix inequalities （LMIs）. Two numerical examples are given to illustrate the effectiveness of the design method.
