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Fixed-time distributed average consensus tracking for multiple Euler-Lagrange systems
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作者 SUN Guhao ZENG Qingshuang CAI Zhongze 《Journal of Systems Engineering and Electronics》 2025年第2期523-536,共14页
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
关键词 distributed average tracking(DAT) fixed-time con-vergence Euler-Lagrange systems sliding mode control
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Distributed cooperative control of autonomous multi-agent UAV systems using smooth control 被引量:22
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作者 BELKACEM Kada MUNAWAR Khalid MUHAMMAD Shafique Shaikh 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2020年第6期1297-1307,共11页
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
关键词 cooperative control distributed consensus three-dimensional formation control multiple-UAV system
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Chattering analysis for discrete sliding mode control ofdistributed control systems 被引量:4
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作者 litong ren shousheng xie +2 位作者 yu zhang jingbo peng ledi zhang 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2016年第5期1096-1107,共12页
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
关键词 distributed control system sliding mode control switching system chattering analysis.
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DCS devices based non-linear process control system design for plants with distributed time-delay using particle filter 被引量:3
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作者 DENG Ming-cong FUJII Ryohei 《Journal of Central South University》 SCIE EI CAS CSCD 2019年第12期3351-3358,共8页
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
关键词 non-linear remote control distributed control system particle filter operator theory distributed time-delay
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New type of adaptive control for a class of distributed time-delay systems with adaptation regard to delay parameter 被引量:1
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作者 Lin Chai1, 2, Shumin Fei1, 2, Haiyan Jin1, 2, Ruimin Wang1, 2, and Yanhong Li1, 2 1. Key Laboratory of Measurement and Control of Complex Systems of Engineering, Southeast University, Nanjing 210096, P. R. China 2. School of Automation, Southeast University, Nanjing 210096, P. R. China 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2010年第6期1054-1062,共9页
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
关键词 distributed delay linear matrix inequality (LMI) adaptive control time-delay systems memory PI feedback.
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A fault-tolerant control method for distributed flight control system facing wing damage 被引量:2
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作者 CUI Yuwei LI Aijun MENG Xianfeng 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2021年第5期1041-1052,共12页
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
关键词 flight control fault diagnosis distributed system dynamic inverse linear quadratic regulator(LQR)
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Integrated fire/flight control of armed helicopters based on C-BFGS and distributionally robust optimization
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作者 ZHOU Zeyu WANG Yuhui WU Qingxian 《Journal of Systems Engineering and Electronics》 CSCD 2024年第6期1604-1620,共17页
To meet the requirements of modern air combat,an integrated fire/flight control(IFFC)system is designed to achieve automatic precision tracking and aiming for armed helicopters and release the pilot from heavy target ... To meet the requirements of modern air combat,an integrated fire/flight control(IFFC)system is designed to achieve automatic precision tracking and aiming for armed helicopters and release the pilot from heavy target burden.Considering the complex dynamic characteristics and the couplings of armed helicopters,an improved automatic attack system is con-structed to integrate the fire control system with the flight con-trol system into a unit.To obtain the optimal command signals,the algorithm is investigated to solve nonconvex optimization problems by the contracting Broyden Fletcher Goldfarb Shanno(C-BFGS)algorithm combined with the trust region method.To address the uncertainties in the automatic attack system,the memory nominal distribution and Wasserstein distance are introduced to accurately characterize the uncertainties,and the dual solvable problem is analyzed by using the duality the-ory,conjugate function,and dual norm.Simulation results verify the practicality and validity of the proposed method in solving the IFFC problem on the premise of satisfactory aiming accu-racy. 展开更多
关键词 integrated fire/flight control(IFFC) armed helicopter improved contracting Broyden Fletcher Goldfarb Shanno(C-BFGS)algorithm memory nominal distribution Wasserstein dis-tance distributionally robust optimization
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Fixed-time Target-guided Coordinate Control of Unmanned Surface Vehicles Based on Dynamic Surface Control
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作者 LI Chao−yi XU Hai−xiang +2 位作者 YU Wen−zhao DU Zhe DING Ya−nan 《船舶力学》 北大核心 2025年第6期849-862,共14页
This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only b... This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results. 展开更多
关键词 unmanned surface vehicle distributed control target-guided coordinate control fixed-time convergence dynamic surface control
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Hierarchical Distributed Control Design for Multi-agent Systems Using Approximate Simulation 被引量:4
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作者 TANG Yu-Tao HONG Yi-Guang 《自动化学报》 EI CSCD 北大核心 2013年第6期868-874,共7页
在这份报纸,我们基于近似模拟为多代理人系统考虑一个层次控制图案。到还原剂复杂性,我们首先构造一个简单抽象系统指导代理人,然后,我们讨论在抽象系统和多重代理人之间的模拟关系。在这个抽象系统的帮助下,分布式的层次控制被建... 在这份报纸,我们基于近似模拟为多代理人系统考虑一个层次控制图案。到还原剂复杂性,我们首先构造一个简单抽象系统指导代理人,然后,我们讨论在抽象系统和多重代理人之间的模拟关系。在这个抽象系统的帮助下,分布式的层次控制被建议完成一项协作任务。由普通 Lyapunov 功能的优点,我们与考虑到模拟功能交换多代理人拓扑学分析集体行为。 展开更多
关键词 多代理系统 分层分布式 控制设计 近似模拟 共同LYAPUNOV函数 模拟关系 分层控制 仿真功能
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Distributed Mo del Predictive Control Based on Multi-agent Mo del for Electric Multiple Units 被引量:12
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作者 LI Zhong-Qi 《自动化学报》 EI CSCD 北大核心 2014年第11期2625-2631,共7页
关键词 分布式电源 电动车组 多代理 预测控制 多单元 协调控制算法 多AGENT 功率单元
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Developing Environment of Hierarchical and Distributed Real-Time Fire-Control Network 被引量:1
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作者 He Jianhua(Northwestern Polytechnical University, Xi’an 710072, P. R. China)(This project was supported by the Astronautics Foundation.) 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 1998年第4期1-7,共7页
This paper introduces a hierarchical real-time environment for developing ship-bornefire-control system. Advanced computer networks are used to simulate the system with the requiredengagement scenario, including own-s... This paper introduces a hierarchical real-time environment for developing ship-bornefire-control system. Advanced computer networks are used to simulate the system with the requiredengagement scenario, including own-ship and parameters, and data processing and transmission,mission calculation, graphical supervision and gunnery ballistics outputting. The simulation systemis able to receive instruction from, or send information to the command-control center. Furthermore,the system can also be used to compare various designed schemes and analyze the accuracy andeffectiveness of the system. 展开更多
关键词 distributed network Fire-control RS-485 communication Software environment
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Synthesis for Spatially Interconnected Systems with Distributed Output Feedback Controllers 被引量:1
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作者 HUANG Huang WU Qing-He LI Hui 《自动化学报》 EI CSCD 北大核心 2009年第8期1128-1135,共8页
关键词 空间互联系统 自动化系统 反馈控制器 稳定性
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Control Scheme for Distributed Generator Providing Network Voltage Support
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作者 Miles A.REDFERN 《电力系统自动化》 EI CSCD 北大核心 2012年第8期198-202,共5页
The distributed generator over the last 30years has posed several challenges when they are connected to a distributed network.The most immediate problem is to change the voltage at the connection point depending on th... The distributed generator over the last 30years has posed several challenges when they are connected to a distributed network.The most immediate problem is to change the voltage at the connection point depending on the power supplied to the network and may cause it to exceed statutory limits.This paper describes a new control scheme for a distributed generator for supporting the voltage control in the network,thus ensuring the distributed generator to contribute to network voltage management.The scheme performance is demonstrated by a model for a distributed generator connected to a distribution network.The result shows that using the new control scheme,the distribution network voltage constraints are maintained while maximizing the active power delivered by distributed generators. 展开更多
关键词 分布式网络 电压控制 控制计划 发电机 电压管理 网络连接 分销网络 有功功率
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Backstepping-based distributed coordinated tracking formultiple uncertain Euler-Lagrange systems 被引量:4
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作者 yanchao sun wenjia wang +2 位作者 guangfu ma zhuo li chuanjiang li 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2016年第5期1083-1095,共13页
Based on the idea of backstepping design, distributedcoordinated tracking problems under directed topology are discussedfor multiple Euler-Lagrange (EL) systems. The dynamicleader case is considered. First, with the... Based on the idea of backstepping design, distributedcoordinated tracking problems under directed topology are discussedfor multiple Euler-Lagrange (EL) systems. The dynamicleader case is considered. First, with the parameter-linearity property,a distributed coordinated adaptive control scheme is proposedfor EL systems in the presence of parametric uncertainties.Then, subject to nonlinear uncertainties and external disturbances,an improved adaptive control algorithm is developed by usingneural-network (NN) approximation of nonlinear functions. Bothproposed algorithms can make tracking errors for each followerultimately bounded. The closed-loop systems are investigated byusing the combination of graph theory, Lyapunov theory, and BarbalatLemma. Numerical examples and comparisons with othermethods are provided to show the effectiveness of the proposedcontrol strategies. 展开更多
关键词 multi-agent systems Euler-Lagrange (EL) system coordinatedtracking backstepping control distributed control.
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Adaptive distributed formation maintenance for multiple UAVs:Exploiting proximity behavior observations 被引量:6
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作者 LIU Wei-heng ZHENG Xin DENG Zhi-hong 《Journal of Central South University》 SCIE EI CAS CSCD 2021年第3期784-795,共12页
The formation maintenance of multiple unmanned aerial vehicles(UAVs)based on proximity behavior is explored in this study.Individual decision-making is conducted according to the expected UAV formation structure and t... The formation maintenance of multiple unmanned aerial vehicles(UAVs)based on proximity behavior is explored in this study.Individual decision-making is conducted according to the expected UAV formation structure and the position,velocity,and attitude information of other UAVs in the azimuth area.This resolves problems wherein nodes are necessarily strongly connected and communication is strictly consistent under the traditional distributed formation control method.An adaptive distributed formation flight strategy is established for multiple UAVs by exploiting proximity behavior observations,which remedies the poor flexibility in distributed formation.This technique ensures consistent position and attitude among UAVs.In the proposed method,the azimuth area relative to the UAV itself is established to capture the state information of proximal UAVs.The dependency degree factor is introduced to state update equation based on proximity behavior.Finally,the formation position,speed,and attitude errors are used to form an adaptive dynamic adjustment strategy.Simulations are conducted to demonstrate the effectiveness and robustness of the theoretical results,thus validating the effectiveness of the proposed method. 展开更多
关键词 unmanned aerial vehicle formation maintenance proximity behavior adaptive distributed control formation flight control
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Distributed tasks-platforms scheduling method to holonic-C2 organization 被引量:3
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作者 WANG Xun YAO Peiyang +2 位作者 ZHANG Jieyong WAN Lujun JIA Fangchao 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2019年第1期110-120,共11页
To solve the problem of distributed tasks-platforms scheduling in holonic command and control(C2) organization,the basic elements of the organization are analyzed firstly and the formal description of organizational e... To solve the problem of distributed tasks-platforms scheduling in holonic command and control(C2) organization,the basic elements of the organization are analyzed firstly and the formal description of organizational elements and structure is provided. Based on the improvement of task execution quality,a single task resource scheduling model is established and the solving method based on the m-best algorithm is proposed. For the problem of tactical decision-holon cannot handle tasks with low priority effectively, a distributed resource scheduling collaboration mechanism based on platform pricing and a platform exchange mechanism based on resource capacities are designed. Finally,a series of experiments are designed to prove the effectiveness of these methods. The results show that the proposed distributed scheduling methods can realize the effective balance of platform resources. 展开更多
关键词 COMMAND and control (C2) decision-holon distributed TASK allocation TASK EXECUTION quality platform PRICE order optimization.
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Distributed tracking for networked Euler-Lagrange systems without velocity measurements 被引量:2
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作者 Qingkai Yang Hao Fang +1 位作者 Yutian Mao Jie Huang 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2014年第4期671-680,共10页
The problem of distributed coordinated tracking control for networked Euler-Lagrange systems without velocity measurements is investigated. Under the condition that only a portion of the followers have access to the l... The problem of distributed coordinated tracking control for networked Euler-Lagrange systems without velocity measurements is investigated. Under the condition that only a portion of the followers have access to the leader, sliding mode estimators are developed to estimate the states of the dynamic leader in finite time. To cope with the absence of velocity measurements, the distributed observers which only use position information are designed. Based on the outputs of the estimators and observers, distributed tracking control laws are proposed such that all the fol- lowers with parameter uncertainties can track the dynamic leader under a directed graph containing a spanning tree. It is shown that the distributed observer-controller guarantees asymptotical stability of the closed-loop system. Numerical simulations are worked out to illustrate the effectiveness of the control laws. 展开更多
关键词 Euler-Lagrange system distributed control coordinated tracking velocity observer.
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Distributed fuzzy fault-tolerant consensus of leader-follower multi-agent systems with mismatched uncertainties 被引量:6
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作者 MALIKA Sader WANG Fuyong +1 位作者 LIU Zhongxin CHEN Zengqiang 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2021年第5期1031-1040,共10页
In this paper,the distributed fuzzy fault-tolerant tracking consensus problem of leader-follower multi-agent systems(MASs)is studied.The objective system includes actuator faults,mismatched parameter uncertainties,non... In this paper,the distributed fuzzy fault-tolerant tracking consensus problem of leader-follower multi-agent systems(MASs)is studied.The objective system includes actuator faults,mismatched parameter uncertainties,nonlinear functions,and exogenous disturbances under switching communication topologies.To solve this problem,a distributed fuzzy fault-tolerant controller is proposed for each follower by adaptive mechanisms to track the state of the leader.Furthermore,the fuzzy logic system is utilized to approximate the unknown nonlinear dynamics.An error estimator is introduced between the mismatched parameter matrix and the input matrix.Then,a selective adaptive law with relative state information is adopted and applied.When calculating the Lyapunov function’s derivative,the coupling terms related to consensus error and mismatched parameter uncertainties can be eliminated.Finally,a numerical simulation is given to validate the effectiveness of the proposed protocol. 展开更多
关键词 distributed fuzzy fault-tolerant control(FTC) tracking consensus problem leader-follower multi-agent system mismatched parameter uncertainty
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Three-dimensional impact angle constrained distributed cooperative guidance law for anti-ship missiles 被引量:10
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作者 LI Wei WEN Qiuqiu +1 位作者 HE Lei XIA Qunli 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2021年第2期447-459,共13页
This paper investigates the problem of distributed cooperative guidance law design for multiple anti-ship missiles in the three-dimensional(3-D)space hitting simultaneously the same target with considering the desired... This paper investigates the problem of distributed cooperative guidance law design for multiple anti-ship missiles in the three-dimensional(3-D)space hitting simultaneously the same target with considering the desired terminal impact angle constraint.To address this issue,the problem formulation including 3-D nonlinear mathematical model description,and communication topology are built firstly.Then the consensus variable is constructed using the available information and can reach consensus under the proposed acceleration command along the line-of-sight(LOS)which satisfies the impact time constraint.However,the normal accelerations are designed to guarantee the convergence of the LOS angular rate.Furthermore,consider the terminal impact angle constraints,a nonsingular terminal sliding mode(NTSM)control is introduced,and a finite time convergent control law of normal acceleration is proposed.The convergence of the proposed guidance law is proved by using the second Lyapunov stability method,and numerical simulations are also conducted to verify its effectiveness.The results indicate that the proposed cooperative guidance law can regulate the impact time error and impact angle error in finite time if the connecting time of the communication topology is longer than the required convergent time. 展开更多
关键词 distributed cooperative guidance law impact angle constraint communication topology nonsingular terminal sliding mode(NTSM)control finite time convergent
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Distributed attitude consensus of spacecraft formation flying 被引量:1
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作者 Xinsheng Wang jingxin Wu Xiaoli Wang 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2013年第2期296-302,共7页
The consensus problem of the distributed attitude synchronization in the spacecraft formation flying is considered.Firstly,the attitude dynamics of a rigid body spacecraft is described by modified Rodriguez parameters... The consensus problem of the distributed attitude synchronization in the spacecraft formation flying is considered.Firstly,the attitude dynamics of a rigid body spacecraft is described by modified Rodriguez parameters(MRPs).Then global stable distributed cooperative attitude control laws are proposed for different cases.In the first case,the control law guarantees the state consensus during the attitude synchronization.In the second case,the control law ensures both the attitudes synchronizing to a desired constant attitude and the angular velocities converging at zero.In the third case,an attitude consensus control law with bounded control input is proposed.Finally,the effectiveness and validity of the control laws are demonstrated by simulations of six rigid bodies formation flying. 展开更多
关键词 multi-spacecraft system modified Rodriguez parameter(MRP) attitude consensus distributed control.
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