Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

Gu, Yao; Yue, Ming; Shangguan, Jinyong; Su, Longfei

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231188488

This article develops an effective adaptive obstacle avoidance control strategy containing formation decision mechanism and a model predictive control–based formation controller for a multi-robot system working in a narrow alleyway environment. First, a decision mechanism containing two obstacle avoidance methods, homogeneous deformation and heterogeneous deformation, is established to provide a flexible choice for the formation to pass through the obstacle area, taking into account the formation safety and environment constraint. Furthermore, a formation bank is preset, and a performance evaluation system containing structural deformation, convergence speed, and energy consumption is established to help determine the best obstacle avoidance configuration. Then, a model predictive control–based formation controller with the leader–follower approach is utilized to realize the configuration switching and keeping. In the end, the simulation results verify the effectiveness of the proposed control strategy.

Meng, Xin; Gao, Cunchen; Jiang, Baoping; Karimi, Hamid Reza

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231191398

The problem of leader-following exponential consensus is addressed for fractional-order descriptor nonlinear multi-agent systems by designing an event-triggered sliding mode control strategy. Such an exponential consensus is achieved by defining a suitable sliding surface and a controller under the Mittag–Leffler stability of fractional-order systems. Due to the memory nature of the fractional-order calculus operator, a new condition is established to avoid Zeno behaviors happening, which is different from existing event-triggered schemes. Finally, to illustrate the effectiveness and feasibility of the proposed method, two examples are provided.

Chen, Jiafeihong; Ning, An; Jiang, Shan; Wang, Zhiping; Du, Guanzheng; Yu, Longbao

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231173027

This article studies the control problem of Markov jump systems subject to actuator saturation and partial mode information. The asynchronous phenomenon between the controller and the plant is addressed by introducing a hidden Markov model. By means of convex hull method, some sufficient conditions are obtained to guarantee the stochastic stability of the saturated Markov jump systems. Finally, a numerical example is given to illustrate the effectiveness of the algorithm.

Liu, Li; Yue, Xiaokui; Wen, Haowei; Hao, Zhiwei; Zhu, Yuan

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231192770

A novel estimation scheme for joint torque information is constructed by observer design method in the case that force/torque/velocity/acceleration sensors of manipulator are not available. Based on generalized dynamic scaling function and scalar filtering, the globally exponentially stable observer for torque estimation with only position measurement is presented in this article. The main contribution lies in the development of the classic Nicosia observer with performance improvements and significant order reduction compared to the existing results. Comparative simulations demonstrate the effectiveness and superiority of the proposed scheme.

Zhang, Chunfu; Yang, Renming; Li, Guangye; Hou, Mingdong

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231193135

This work uses the Hamiltonian function approach to investigate the observer-based finite-time robust control problem of a broad nonlinear system and presents various new results. To begin, the Hamiltonian technique is used to convert the original system to its equivalent form, and then the observer system is designed. Afterward, utilizing the technology and the Lyapunov method, we investigate the finite-time control issue and give several finite-time stabilization results based on the observer method. Finally, a real unmanned vehicle is used to verify the performance of the observer-based finite-time robust stabilization controller. Different from the existing literature on the Hamiltonian method, the Hamiltonian function in this article has different powers, which implies that the results developed in this article have a wider range of application.

He, Kaiqiang; Sun, Liying; Yang, Renming

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231181479

This article studies robust stabilization and adaptive H∞ control problems for a class of continuous-time nonlinear singular systems by static output feedback. First, under sufficient conditions which the system is impulse controllable, the static output feedback controller is designed, and the stabilization problem of the system is discussed. Second, the H∞ and adaptive H∞ controllers are designed for the continuous-time nonlinear singular systems with external disturbances. Compared with the existing conclusions, the controller can be designed for more nonlinear singular systems. Finally, an example of a nonlinear singular circuit is given, and the simulation results verify the validity of the proposed controllers.

Seol, Jaehwi; Ju, Chanyoung; Son, Hyoung Il

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231173765

This study proposes a discrete event system-based control strategy for autonomous tributary mapping using multi-unmanned aerial vehicle. When considering the unmanned aerial vehicles as discrete event systems, supervisory control theory is used to model and control individual unmanned aerial vehicle behavior in the system. In tributary mapping, the situation changes each time depending on environmental factors (e.g. weather) and the work must be performed in an unstructured environment. Therefore, this article proposes a multi-unmanned aerial vehicle-based supervisory control system to solve real-field problems. Unlike the control systems of recent studies, which mainly deal with continuous-time dynamics, we modeled a multi-unmanned aerial vehicle system based on a discrete event system in which the dynamic states are transitioned by asynchronous events. The proposed multi-unmanned aerial vehicle-based supervisory control system was validated in dynamic simulators and demonstrated that multi-unmanned aerial vehicle satisfies the behavior specifications. The supervisor proposed in this study was validated using a physics-based simulator.

Huang, Yanwei; Huang, Peng

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231172264

Aiming at a mass variation of unmanned surface vehicle and the poor or even unmeasurable signal of yaw rate signal, the dynamic output feedback H∞ control method is proposed for heading regulation based on improved bounded real lemma to reduce the conservativeness and guarantee the robustness. First, a linear-varying-parameter heading error model with external disturbances is established by the consideration of mass as a variable parameter. Second, the dynamic output feedback controller with H∞ performance is presented for the linear-varying-parameter heading error model, and its nonlinear matrix inequality conditions for the stability of the closed-loop system are deduced from improved bounded real lemma by parameter-dependent Lyapunov to maintain the system robustness. Furthermore, the solution of nonlinear matrix inequality conditions relies on the variable substitution method, and improved bounded real lemma reduces the conservativeness of the controller design by introducing auxiliary relaxation variables to derive the equivalent linear matrix inequality condition. Finally, the heading control simulations for unmanned surface vehicle indicate that the dynamic output feedback H∞ method based on improved bounded real lemma (IDOF) is robust to system parameter variations and external disturbances, and can effectively reduce the conservativeness of the controller design. Moreover, dynamic output feedback H∞ method based on improved bounded real lemma has faster transient processes and smaller steady-state errors.

Zhu, Tengbin; Xiao, Yingjie; Zhang, Hao; Pan, Yufeng

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231182296

This article studies the trajectory tracking of an underactuated unmanned surface vehicle. The trajectory tracking controller is divided into two parts: the kinematics controller and the dynamic controller. Taking the hull coordinate system of the unmanned surface vehicle as the datum plane, the kinematics controller is designed based on the backstepping method, and the virtual control input of the speed and the heading deviation of the ship are obtained. A dynamic controller is designed through an exponential sliding surface to stabilize the error of speed and heading deviation, thereby stabilizing the position error. In the process of designing the controller, the stability of the entire closed-loop control system is analyzed using Lyapunov stability theory. Finally, the designed numerical simulation experiment is carried out. The proposed exponential sliding mode controller is compared with the global integral sliding mode controller, and it is verified that the proposed controller has better effectiveness and robustness in the trajectory tracking of the underactuated unmanned surface vehicle.

Yaghooti, Bahram; Safavigerdini, Kaveh; Hajiloo, Reza; Salarieh, Hassan

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231199261

This article presents an adaptive nonlinear delayed feedback control scheme for stabilizing the unstable periodic orbit of unknown fractional-order chaotic systems. The proposed control framework uses the Lyapunov approach and sliding mode control technique to guarantee that the closed-loop system is asymptotically stable on a periodic trajectory sufficiently close to the unstable periodic orbit of the system. The proposed method has two significant advantages. First, it employs a direct adaptive control method, making it easy to implement this method on systems with unknown parameters. Second, the framework requires only the period of the unstable periodic orbit. The robustness of the closed-loop system against system uncertainties and external disturbances with unknown bounds is guaranteed. Simulations on fractional-order duffing and gyro systems are used to illustrate the effectiveness of the theoretical results. The simulation results demonstrate that our approach outperforms the previously developed linear feedback control method for stabilizing unstable periodic orbits in fractional-order chaotic systems, particularly in reducing steady-state error and achieving faster convergence of tracking error.

Narayan, Jyotindra; Kalita, Bhaben; Dwivedy, Santosha K

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231191390

Post-neurological disorder, passive-assist training disregards human involvement during robot-aided lower-limb rehabilitation. This work presents a novel human-cooperative framework based on the admittance and trajectory control scheme to administer the subject–exoskeleton interaction for pediatric gait rehabilitation. Initially, the mechanical design and dynamic analysis of an existing exoskeleton system are briefly attended. Thereafter, an admittance model is designed in the outer loop, which recasts the desired human trajectory into a reference trajectory. As an inner-loop control scheme, a robust adaptive backstepping controller is designed to trace the reference gait trajectory under parametric uncertainties and external disturbances. Lyapunov stability analysis is solved to guarantee the uniform boundedness of the control signals. Moreover, the well-known problem of “explosion of complexity” and “overparameterization” is avoided through the design of the robust adaptive backstepping control scheme. The performance of the proposed robust adaptive backstepping-based human-cooperative control is studied under the low- and high-level admittance model. Finally, the effectiveness of the proposed control is validated with a variable structure adaptive robust-based human-cooperative control. The co-simulation results show that the proposed control with low-level admittance allows the subject to participate in the training process more frankly. The proposed robust adaptive backstepping-based human-cooperative control tracks the reference gait more promisingly than the variable structure adaptive robust-based human-cooperative control for both admittance levels.

Elkhalil, Khouloud; Zribi, Ali

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231173756

In the past few years and in many applications, linear feedback control has proved to be adequate for the control of various nonlinear systems. Therefore, before attempting the controller design phase, it is natural to ask, “When is a linear controller adequate for a nonlinear system?” This article provides a new nonlinearity analysis method based on the gap metric and the stability margin that is able to quantify the nonlinearity degree of a system once it has an internal model control controller. The internal model control strategy is used since it provides a direct measure of the discrepancy between outputs from the nonlinear system and its internal model when both are subject to the same controller. It is shown that a feedback loop may exhibit much lower nonlinearity than an open-loop nonlinear system by a careful design of a single linear internal model control controller via the gap metric and stability margin, used as model-based analysis tools for linear time-invariant systems. Both simulations and an experimental validation on a semibatch reactor prove the effectiveness of the proposed method.

Ren, Hangli; Fan, Qingxi; Qian, Xiaoliang; Yue, Weichao; Liu, Xianglong

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231173760

This article focuses on finite-time H∞ control under the Round-Robin protocol for switched linear systems with admissible edge-dependent average dwell time. To relieve the bandwidth pressure of the sensor, a Round-Robin protocol is constructed to decide the access rights of each node of the sensor. Under the Round-Robin protocol-based control structure, admissible edge-dependent average dwell time is applied to describe the transition relationship between the modes of the subsystem and release the restrictions of mode-dependent average dwell time. Moreover, the finite-time stability and H∞ performance of switched system with Round-Robin protocol are analyzed by using multiple Lyapunov function method combined with the admissible edge-dependent average dwell time switching. Sufficient conditions for the solution to finite-time control problem are derived which consider the H∞ performance index. Finally, the availability of the control synthesis methods is verified by the circuit model of Buck–Boost converter.

Zhang, Yangming; Yan, Peng

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231186053

High precision tracking of mechatronic systems is often subject to the adverse impact of various disturbances. In this article, a novel prescribed disturbance observer-based adaptive dynamic surface control scheme is proposed to solve the tracking control problem for a class of uncertain nonlinear systems with both mismatched disturbances and matched disturbances. More specifically, the dynamic surface control technique is introduced to eliminate the explosion of complexity problem in the existing backstepping-based design. The prescribed disturbance observers with pre-specified estimation accuracy are first designed to handle the mismatched disturbances, and the adaptive laws are synthesized to deal with the parametric uncertainties and the bound of matched disturbances. Moreover, it can be shown that the tracking error converges to an arbitrarily small neighborhood of zero. Finally, the proposed control algorithm is applied to a customize-designed high-precision motion stage driven by voice coil motors, where numerical simulations and real-time experiments demonstrate excellent tracking performance and disturbance rejection capability, achieving tracking precision error less than 0.5‰ in multifrequency trajectory tracking.

Mac, Thi-Thoa; Nguyen, Tien-Duy; Bui, Hai-Le; Tran, Ngoc-An

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231196900

This study aims to investigate an optimal design problem for vibration control of vehicle suspension models for reducing dynamic responses of the systems. The controller is constructed and optimized based on the approach of the hedge-algebras theory. Optimized parameters include fuzziness measures and reference ranges of state and control variables. Objective functions are considered to minimize the car body vibration and other essential objectives. Initial and optimized controllers have validated their stability through a newly proposed method using rule surfaces of the hedge-algebras–based controller. The controllers based on hedge-algebras theory have higher performance than controllers in previous publications and ensure the system stability and robustness to changes in the car body and wheel masses. The optimal approach in the present work allows determining values of design variables that are appropriate for the controlled models instead of using a trial–error method to evaluate these variables. In addition, the proposed approach to test the system stability allows simplifying this task for controllers using hedge-algebras theory.

Zakaria, Sahraoui

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231169384

Codesign of control and scheduling systems is commonly used in the literature to address scheduling artifacts such as latencies and jitters. However, As controllers’ designs remain unchanged and fail to express any concerns regarding this matter, it becomes challenging to quantify the quality of control and its trade-off with resource utilization while adapting control or scheduling settings at runtime. In the present article, we propose a new proportional–integral–derivative (PID) controller design for the problem of scheduling artifacts. Based on our prior work, the latency processor utilization is revealed as a hidden artifact for the control deterioration when developing new predicted PID controller terms. This artifact effect is proven analytically using a codesign task model and considering an extrapolated measurement. The effectiveness of the proposed solution is assessed with a benchmark system and compared with previous works.

Ghotb, Hajar; Ataei, Mohammad; Siahi, Mehdi; Moarefianpour, Ali

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231188490

This article deals with the problem of distributed observer design containing time delays for uncertain nonlinear distributed generators systems in alternating current–islanded micro grids. In contrast with the centralized observer with the ability to accumulate full output of the plant, we design a set of distributed observers, each having access to partial output of the plant through a distributed observer network. Each observer obtains partial plant output and communicates with its neighboring observers through consensus network. The design method is based on the Lipschitz condition of uncertain nonlinear terms while having time-delay system in view. Suitable selection of Lyapunov functions is made, and the Jensen inequality is considered in delayed uncertain nonlinear micro grids in an undirected network. Furthermore, via design algorithm, the necessary and sufficient conditions for the design of parameters are determined so as to stabilize the error dynamics. Finally, numerical simulations are provided to consider the effectiveness of the proposed method.

Marwa, Ltifi; Nesrine, Bahri; Majda, Ltaief

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231173769

This article deals with the observability bound problem of a discrete-time nonlinear singularly perturbed systems (SPSs) subject to disturbances and noises. This nonlinear SPS is represented by a coupled state multimodel (MM) with unmeasurable premise variables. A H∞ proportional-integral multiobserver (H∞ PI multiobserver), known by its robustness, is designed to accomplish this task. The proposed method is based on the L2 technique to minimize the effect of the disturbances, the noises, and all the unmeasurable premise variables. To design this observer, sufficient conditions expressed in terms of linear matrix inequalities (LMIs) are developed as a first step to ensure the robust stability bound of the considered system represented by a coupled MM for a bound of the singular perturbation parameter based on a quadratic Lyapunov function and the L2 gain. Then, sufficient conditions are developed to ensure the robust stability bound of the state estimation error between the MM and the PI multiobserver for a bound of the singular perturbation parameter that is less than or equal to the considered system’s robust stability bound. Hence, the observability bound of the considered system represented by a coupled state MM is determined. Two simulation examples are then given to validate the proposed strategy.

Liu, Hongwei; Zhao, Wende; Liu, Xing

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231170764

This article investigates the region tracking control problem for an autonomous underwater vehicle subject to external disturbances, model uncertainty, and large initial deviation. In the existing region tracking control schemes, the control signals have a serious chattering phenomenon when autonomous underwater vehicle’s initial deviation is relatively large and the region tracking performance is only investigated from the position information. This article proposes an improved adaptive region tracking control scheme for autonomous underwater vehicle based on error scaling. Specifically, in the improved control scheme, the initial tracking error is artificially reduced by introducing an improved nonlinear mapping function to avoid the singular phenomenon and reduce the violent chattering phenomenon. In addition, the velocity error boundary is amplified by introducing the piecewise Lyapunov function to avoid the overadjustment of adaptive parameters in the developed controller. Meanwhile, it also reduces the frequent switching of control signals in the traditional control scheme which is caused by the pursuit of high-velocity precision. The region tracking performance is analyzed based on Lyapunov theory. Finally, the improved control scheme is applied to an autonomous underwater vehicle for simulation verification, and the comparison results demonstrate the effectiveness of the improved control scheme.

Jin, Qiang; Sun, Liying; Yang, Renming

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231199207

This article studies the finite-time stabilization and finite-time H∞ control problems for a class of Takagi–Sugeno fuzzy singular systems and proposes a finite-time H∞ fuzzy controller to enable the system to cope with external disturbances, and the closed-loop system state converges to the equilibrium point. Before designing the controller, impulse controllability of the Takagi–Sugeno fuzzy singular system is discussed. Then, a finite-time H∞ fuzzy controller is designed, and the finite-time stabilization conditions of the Takagi–Sugeno fuzzy singular system are expressed by linear matrix inequality. Finally, the simulation outcomes of a nonlinear singular system demonstrate that the designed controller has a good suppression effect on external disturbances, and the closed-loop system state converges to the equilibrium point in finite-time T and remains at the equilibrium point after T.

Gao, Yicheng; Shen, Gang; Li, Xiang; Zhu, Zhencai; Guo, Yongcun; Wang, Qingguo

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231194015

High-precision position control of hydraulic systems is of great significance in industrial applications. However, unknown external force disturbance, measurement noise, and other uncertain nonlinearities widely exist in electro-hydraulic servo systems, which severely degrade the system performance. To handle this problem, a sliding-mode controller based on K-observer with nonlinear disturbance observer is proposed for electro-hydraulic position systems in this article. The nonlinear disturbance observer is to estimate and eliminate the time-varying external force disturbance. The sliding-mode controller based on K-observer is to reach low gain observation of states and improve the system performance by reducing the chattering of the sliding-mode algorithm. The proposed controller is proved to be stable by the Lyapunov stability criterion. Comparative experiments support that the controller has high precision and strong robustness.

Shen, Zhipeng; Zhang, Liangyu; Liu, Yuchen; Yu, Haomiao

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231174287

In this article, a dynamic surface control algorithm based on the adaptive tanh line-of-sight with speed adjustment is proposed to solve the problem of path-following control of unmanned sailboat with event-triggered input, considering the dynamic model uncertainty and unknown external disturbance. First, the adaptive tanh line-of-sight method is used to improve the following accuracy and robustness, then an extended state observer is used to estimate the external disturbance and the uncertainty of the internal model, the heading error and the yaw angular velocity error are considered to design the recursive sliding mode dynamic surface controller, at the same time, the speed of the unmanned sailboat is constrained to improve its stability. In addition, to reduce the action frequency of the steering gear, the relative threshold event-triggered control is applied to the controller. According to the Lyapunov stability analysis, it is proved that the proposed control scheme can ensure that all errors in the closed-loop system are semi-globally consistent and ultimately bounded, while the Zeno behavior can be avoided. Finally, the effectiveness of the proposed scheme is verified by simulation and comparative experiments.

Gao, Anan; Hu, Aihua; Jin, Yinghua; Jiang, Zhengxian

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231172646

This article investigates the mean-square bounded consensus problem for nonlinear multi-agent systems under hybrid attacks composed of deception attacks and denial-of-service attacks. The network consists of a leader and several followers. The attacks can disrupt network connections and inject false data. Using an impulsive control approach, the mean-square bounded consensus is analyzed. Meanwhile, the upper bound of error is also calculated. Based on the knowledge of the Lyapunov stability theory, graph theory, and linear matrix inequalities, sufficient conditions for the mean-square bounded consensus of multi-agent systems are obtained. Finally, the feasibility and validity of the theoretical results are verified by the provided numerical simulations.

Zhu, Wenxing; Wang, Lihui

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231188495

The problem of adaptive finite-time fault-tolerant control with smooth event-triggered mechanism is addressed for quadrotor trajectory tracking systems. In light of recent studies on fault-tolerant control in the field of nonlinear systems, this article focuses on quadrotor trajectory tracking systems with actuator faults and disturbances. Different from the previous works, an ingenious smooth event-triggered mechanism is proposed to circumvent the discontinuous triggered signal and alleviate the communication burden simultaneously, which is of great significance to increase the operation life of the quadrotor. Subsequently, the finite-time performance function is designed to guarantee the prescribed tracking performance. Furthermore, a novel finite-time convergent adaptive fault-tolerant controller is proposed via the time-varying barrier Lyapunov function technique. The radial basis function neural networks are utilized to deal with the nonlinear approximation, and the adaptive laws are developed to accurately estimate the unknown model uncertainty, thus effectively handling the challenge of the controller design caused by the actuator faults and disturbances. Under the developed adaptive fault-tolerant controller, all the closed-loop system signals are bounded and the tracking errors are convergent within finite time. Meanwhile, the Zone behavior can be excluded by the positive sampling intervals. Finally, two examples are employed to verify the effectiveness and advantages of the suggested control scheme.

Sun, Yaohui; Shi, Yanpeng

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231182288

The cooperative output regulation problem for heterogeneous multi-agent systems under sensor and actuator attacks with an adaptive self-triggering strategy is considered in this article. The attack considered is the false data injection attack. To resolve the system, a dynamic internal model is introduced for each agent, and a distributed adaptive self-triggering control scheme is proposed. The results show that intermittent communication is possible for all agents using the proposed control mechanism and no agent shows Zeno behavior. The adaptive controller is used to guarantee that the regulated output for the heterogeneous multi-agent systemss is achieved with cooperative uniform ultimate boundedness under both actuator and sensor attacks. Given the whole state of information is unavailable, the adaptive dynamic system is designed based on receivable compromised or uncompromised output information. The effectiveness of the given control scheme is illustrated by two examples.

Huong, Dinh Cong; Phuc, Dang Tien

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231191388

This article considers the design of a discrete-time event-triggered state observer and its application for state vector estimation of permanent magnet synchronous motor. A novel discrete-time event-triggered mechanism is first proposed, and then a new event-triggered state observer is designed to estimate the state vectors of a nonlinear system subject to unknown disturbances. Unlike traditional state estimation methods, the one in this article utilizes information on the output, which only updates when an event-triggered condition holds. By employing the Lyapunov–Krasovskii approach and well-known inequalities, we derive a sufficient condition in terms of a convex optimization problem to guarantee the existence of the event-triggered state observer. Finally, the theoretical analysis of the proposed method is applied to estimate the state vector of the permanent magnet synchronous motor.

Gul, Kursad Metehan; Kacar, Berk; Aziziaghdam, Mohammad; Kumbasar, Tufan

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231169393

In micromobility applications, maintaining satisfactory motor drive performance in the full torque-speed envelope of an outer rotor non-salient permanent magnet synchronous machine is a challenge due to the drastic performance degradation with the increasing non-linearity above the nominal ratings of the motor. In this article, we tackle this challenge via fuzzy gain scheduling proportional–integral speed controllers that have been designed by taking into account practical considerations. On the basis of experimental voltage ripple analyses conducted on the speed control loop with different system characteristics, we develop a single-input fuzzy gain scheduling proportional–integral speed controller and a double-input fuzzy gain scheduling proportional–integral speed controller to reduce the voltage ripples while providing satisfactory dynamical performance. The proposed structures continuously adjust the characteristics of the speed control loop within a specified region to exhibit different dynamical system characteristics against varying conditions. It is verified by the experimental test results that the proposed structures successfully reduced the increasing voltage ripples as the disturbances increase while providing satisfactory dynamical performance. Finally, we provided a discussion on the trade-off between the proposed structures and suggested deploying single-input fuzzy gain scheduling proportional–integral controller for micromobility speed control applications as it is agnostic to noise to a certain degree hence offering better reliability.

Wan, Min; Du, Jiadai; Yi, Hao

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231182280

More and more semi-submersible platforms are being employed in the deep-sea industry as a result of the offshore oil and gas industry’s rapid growth, which also raises the bar for the positioning capabilities of semi-submersible platforms’ positioning systems. Model predictive control is frequently used in dynamic positioning control because it is effective at addressing a variety of limitations. Yet, there are still issues to be resolved regarding how to enhance model predictive control’s robustness under various working settings and how to offer workable solutions for model predictive control under stable conditions. The approach of stable fuzzy model predictive control for the dynamic placement of a semi-submersible platform is suggested in this research based on this. This method increases the tracking accuracy and tracking speed of dynamic positioning by incorporating the T-S fuzzy algorithm into model predictive control and allowing the coefficients in the weight matrix of the objective function to be modified adaptively. In addition, the solution is limited to the feasible domain by the addition of the control Lyapunov function, ensuring the stability and efficiency of the entire control procedure. A semi-submersible platform’s fixed-point control and trajectory tracking can be accomplished using the proposed technique, which has better trajectory tracking effects than the conventional model predictive control, according to comprehensive simulation findings.

Zhang, Yu; Jin, Shaoli; Sun, Yibing

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231191447

This article addresses the global adaptive output-feedback state regulation problem for a class of uncertain nonlinear systems with generalized control coefficients. Remarkably, the system under investigation simultaneously possesses function control coefficients, input matching uncertainty, and unknown growth rate, which is essentially different from the closely related existing literature. Such nonlinearities from function control coefficients and uncertainties from unknown growth rate bring great technical difficulties to controller design. A novel dynamic gain is introduced to deal with the extra system nonlinearities from function control coefficients and unknowns from the growth rate. In addition, the extended state observer is developed to reconstruct the unmeasured states of the system. By integrating the dynamic gain and extended state observer, an adaptive output-feedback controller is designed, which ensures that the states of the system globally converge to zero, and the estimation of the input matching uncertainty converges to its actual value. Two simulation examples are given to demonstrate the effectiveness of the proposed method.

Keçeci, Ertuğrul; Yumuk, Erhan; Güzelkaya, Müjde; Eksin, İbrahim

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231188494

It is known that analytical manipulation of the time-domain representation of fractional order transfer function is, hitherto, a challenging task. In this study, a controller design methodology based on the direct synthesis design method is proposed using bi-fractional order transfer function as a reference model and certain time-domain criteria. First, an analysis examines the effects of bi-fractional order transfer function parameters, that is, commensurate fractional order, damping ratio and natural frequency, on the system time-domain criteria. This examination has allowed us to set up a relation between damping ratio and commensurate fractional order. Next, a polynomial function fitting is established in order to express the damping ratio in terms of this commensurate order. Bi-fractional-order reference model is regenerated using the above-mentioned relationship. Furthermore, a control design algorithm that utilizes the newly derived bi-fractional order reference model is developed by considering control signal limitations. The proposed fractional order control design method is then compared with globally optimized fractional order proportional-integral-derivative (PID) controllers under the same circumstances and performance index. Finally, the implementation of the proposed controller design algorithm is done on a real-time active suspension system. The results are very satisfactory and incoherent with the simulations.

Zhao, Zankui; Wang, Chengwen; Zhao, Junqi; Du, Wei

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231183367

In this article, a linear quadratic regulator (LQR)-based sliding model control strategy was proposed for the commercial vehicle seat suspension system. First, the multiple degrees of freedom mechanical dynamics model of a quarter suspension system was built. Then, the LQR force command planner was designed based on mechanical dynamics to ensure driver comfort. Second, considering the mechanical dynamics augmented with hydraulic actuator dynamics, a proportional-integral sliding mode control strategy was developed to track the reference force, which was calculated by the LQR force command planner in real time. Taking the problems of noise disturbances and unavailable full states feedback into consideration, the Kalman filter and tracking differentiator were designed and integrated into the control algorithm. Finally, the quarter suspension AMESim model was built, and the proposed control strategy was implemented and verified in the AMESim-Matlab/Simulink co-simulation environment. Comprehensive simulations were carried out. The simulation results, both from time domain and frequency domain perspective, indicated that the seat ride comfort can be effectively improved with the proposed method.

Özer, Tolga; Kıvrak, Sinan; Uğurluoğlu, Alperen

2023 "Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"

doi: 10.1177/09596518221145795

Urinary system disorders that occur at later ages are more common as the average human lifespan increases. Although urinary system disorders are widespread among elderly individuals, these disorders are seen in young people. The catheter system is used in some diseases such as urinary incontinence in the elderly. In addition, patients in different age groups who are hospitalized may need the catheter system during their treatment processes. In this study, a urine output monitoring system was designed and implemented to facilitate the tracking of the patient’s health situation. The designed control system was created based on the PIC18f45K22 microcontroller. The urine output monitoring system was created with a load cell, color sensor, buzzer, liquid crystal display screen, and Bluetooth communication units. A mechanical connection system was developed in which the urinary drainage bag attached to the catheter could be suspended to the control system by means of a hook. Thus, the developed system measured the weight of the urinary bag with a mean relative error value between 0.18% and 1.25%. The load cell–based created control system sensed the weight of the urinary catheter system and gave a warning when the urine in the drainage bag reached a predetermined weight. In addition, the optical density of the urine was measured, sent to the control unit using a wireless Bluetooth communication system, and classified on a 5-point scale to provide a simple visual indicator for caregivers to distinguish normal urine from urine requiring investigation. An audible warning was created using the microcontroller-based system in case of an emergency. The health condition of the patient was visualized through the designed interface program.

Kadem, Onur; Kim, Jongrae

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231182308

The key indicator to assess the performance of a battery management system is the state of charge (SoC). Although various SoC estimation algorithms have been developed to increase the estimation accuracy, the effect of the current input measurement error on the SoC estimation has not been adequately considered in these algorithms. The majority of SoC estimation algorithms are based on noiseless current measurement models in the literature. More realistic battery models must include the current measurement modelled with the bias noise and the white noise. We present a novel method for mitigating noise in current input measurements to reduce the SoC estimation error. The proposed algorithm is validated by computer simulations and battery experiments. The results show that the proposed method reduces the maximum SoC estimation error from around 11.3% to 0.56% in computer simulations and it is reduced from 1.74% to 1.17% in the battery experiment.

Xu, Weidong; Zhang, Jun; Zhong, Mingjie

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231186469

In order to enhance the suppression ability of high-speed multihulls against wave disturbance and reduce the amplitude of vertical motion, it is necessary to use two types of appendages, active T-foil and flap, to implement closed-loop anti-pitching. Aiming at the problems of sea wave disturbance and appendages input constraints, an anti-pitching scheme based on incremental predictive control is proposed. First, the vertical coupled motion model of the high-speed multihull ship is established, the frequency-domain and time-domain characteristics of random wave disturbance are analyzed, and the wave disturbance force and moment are estimated based on the integral disturbance model. On this basis, the incremental model of multihull vertical motion that includes the change rate of wave disturbance is used as the prediction model to reduce the influence of the average wave disturbance force and disturbance moment on vertical motion, improve the model prediction accuracy, and introduce the amplitude and change rate of heave and pitch into the objective function to minimize both. At the same time, in order to solve the input constraints of the anti-pitching appendages and reduce the amount of online calculation, the Lagrange multiplier method and the stair-like parameterization strategy are used to derive the analytical anti-pitching predictive control law and analyze the stability of the closed-loop system. The simulation results show that the proposed incremental predictive control effectively reduces the change rate and amplitude of heave and pitch, the heave displacement is reduced by 43.51%, and the pitch angle is reduced by 50.88%.

Zhu, Di; Li, Meng; Chen, Yong

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231174074

This article investigates the safety control problem of intelligent networked vehicle and utilizes the sliding-mode control to solve the system with time delay, system disturbance, and parameter uncertainty. First, the modeling of automobile system is introduced. What’s more, time delay, parameter uncertainty, disturbance, and attack are added to the original model. Then, designed an integral sliding-mode surface and given the sufficient conditions for system stability using linear matrix inequalities. Furthermore, the controller is designed according to the slide approach rate, and it is proved that the designed controller can make the system state reach the sliding surface in finite time. Finally, the simulation is used to verify the effectiveness of the arithmetic.

Swamy, V. M. M.; Vidyasagar, S.

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231178570

This article proposes a hybrid system for increasing the electric vehicles’ (EVs) driving range considering regenerative shock absorbers. The proposed hybrid approach is a combination of atomic orbital search (AOS) and wild horse optimizer (WHO); later, it was called AOSWHO method. The major objectives of the proposed work are to extend vehicle range, reduce the charging time of the vehicle, reduce the battery size, and increase the efficiency of vehicle. In this proposed work, linear Permanent magnet (PM) generators are used as the sole instrument and on-board source is utilized to absorb vibration energy of the moving vehicle. Here, the proposed method has four key modules: (a) suspension vibration input, (b) transmission mechanism, (c) generator module, and (d) power storage. A suspension vibration is mostly pretentious by road roughness and speed vibration, which is optimally handled by the proposed hybrid technique. The conversion of the alternating linear vibration into unidirectional rotation of generator shaft is processed by proposed hybrid technique. Based on the volume and efficiency of the dampers, a small volume, brushless DC motor with low rotor inertia is selected to produce electricity. By then, the proposed AOSWHO run on MATLAB site and its performance is related to several existing systems. From the simulation result, it is concluded that proposed system delivers an State of Charge (SOC) of 40.33, which is high compared to existing approaches.

Zhang, Yunpeng; Wei, Xinjiang; Zhang, Huifeng; Hu, Xin; Han, Jian

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231193138

This article aims to investigate the finite-time event-triggered anti-disturbance control problem for stochastic systems subject to multiple disturbances, and the disturbances include exogenous disturbance, norm-bounded disturbance and white noises. The stochastic disturbance observer is devised to estimate the exogenous disturbance, then the finite-time event-triggered anti-disturbance control scheme is proposed by combining finite-time control with event-triggered control, which ensures that the composite system is stochastic finite-time boundedness and stochastic finite-time stable under different conditions. Finally, the feasibility and availability of the proposed finite-time event-triggered anti-disturbance control scheme are verified by two simulation examples.

Marzougui, Soumaya; Bedoui, Saïda; Abderrahim, Kamel

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231171226

In this article, we propose an approach for system identification for a class of discrete-time fractional-order Hammerstein systems using only input–output data. Using a combined state and parameter estimation approach, we develop an algorithm serving to estimate simultaneously, the system parameters, the system orders, and the system states. By minimizing the defining criterion, which is non-convex and nonlinear in the parameters, the model parameters are estimated using the recursive least squares and the Levenberg–Marquardt algorithms. Next, the system states are estimated using the Luenberger observer. Then, the convergence analysis of the proposed algorithm is proved. Finally, the Monte Carlo simulation analysis and an application to Ultracapacitor system are used to demonstrate the effectiveness of the suggested method.

Mao, Xingyan; Li, Panshuo; Weng, Zhixiang; Zhao, Jing

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231173763

This article develops a distributed tube model predictive control method to guarantee the string stability of the heterogeneous vehicle platoon under external disturbance and controller saturation. The error model of each vehicle is proposed based on the desired distance and velocity, where the coupled factor between vehicles is treated as a random disturbance. The linear feedback controller is devised to reject disturbances by keeping the actual trajectory within a tube around the nominal trajectory, and a model predictive controller is proposed by treating the input saturation and string stability as state constraints in the optimization problem. Compared with previous results, the proposed control strategy achieves a better performance of disturbance rejection and greatly reduces the online computation burden, which would be more favorable in engineering applications. The method proposed in this article is illustrated to be effective by simulation.

Halledj, Salah Eddine; Bouafassa, Amar

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231181474

This article provides a systematic approach for synthesizing a novel robust synergetic control mechanism. This controller employs a dynamic global terminal synergetic surface with additional sinusoidal function. The overall macrovariable gives the system a rapid approaching rate, maintains the finite time stability, and provides a chattering-free control law. The stability analysis is validated for any uncertain second-order system via indirect approach of Lyapunov theorems. Furthermore, a hyperbolic tangent nonlinear disturbance observer is designed in order to estimate any lumped disturbance. The feasibility and the effectiveness of the proposed composite control law is tested and evaluated through simulations for simple model, wind turbine system and DC-DC buck converter. Finally, the simulation results show that the presented dynamic global terminal synergetic control–based hyperbolic tangent nonlinear disturbance observer can effectively reject the disturbances, enhance the robustness, and guarantee the tracking accuracy and rapidity.

Bui, Van-Binh; Mac, Thi-Thoa; Bui, Hai-Le

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231171960

This study investigates a multi-objective optimal solution for active Hedge-algebras-based control of building structures subjected to earthquakes. The stability condition of the system is considered the constraint in the optimization process. Values in reference ranges of the state variables and the control variable of the Hedge-algebras-based controller are considered as design variables. The objective functions simultaneously minimize the system’s peak relative displacement and absolute acceleration. The simulation results show that the optimized Hedge-algebras-based controllers have a higher efficiency than the published studies for primary objectives: the structure’s peak relative displacement and absolute acceleration. In addition, the Pareto front, representing a trade-off level between the above primary objectives, allows selecting the appropriate configuration of the controller for the controlled models.

Hamadou, Meroua; Belarbi, Khaled

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231190412

The apparition of faults is a well-known phenomenon in automatic control systems. Faults cause undesired behaviour and disruption of a controlled plant, which can lead to damage. This article addresses the actuator fault problem for nonlinear systems described by a discrete time Takagi–Sugeno fuzzy systems. An active fault-tolerant control based on a fault estimator is designed using the matrices norms approach instead of the usual Lyapunov stability theory. In this work, we consider the case where the premise variables do not depend on the unmeasurable variables. This allows the separate design of the gains of the controller, the observer and the estimator. Two nonlinear systems represented by discrete Takagi–Sugeno fuzzy models are studied to investigate the validity of the proposed method.

Wang, Tianzhu; Zhang, Qiang; Fang, Jinhui; Wei, Jianhua; Li, Zhixin

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231171816

This article presents a novel harmonic and synchronous compound control scheme based on the dual-valve parallel structure for controlling a single-rod electro-hydraulic actuator with high-precision control and large-flow requirements. Harmonic and synchronous compound control consists of an adaptive robust control layer and a control law allocation layer. In adaptive robust control layer, an adaptive robust control algorithm is designed to deal with the system nonlinearities and uncertainties via backstepping method. Meanwhile, dynamic surface control technique and “lumped flow” are introduced to solve the differential explosion problem and the multiple input-single output control problem. In control law allocation layer, the harmonic and synchronous compound strategy allocates the control law to two valves reasonably based on system flow and valve frequency characteristics. Furthermore, since the effect of the proportional valve dead-zone can be compensated effectively by combining the estimation of the dead-zone flow by adaptive term, the estimation error compensation by robust term, and the allocation method of control law allocation layer, improved tracking performance can be achieved. Finally, both simulations and experiments are demonstrated to illustrate the advantages of the proposed control scheme.

Ding, Jingang; Jiao, Xiaohong; Zhang, Jingyi

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231188496

The complicated transient coupling driving performance of the electromechanical coupling driving system for hybrid electric vehicles can be guaranteed by reasonably distributing the power between the engine and the electric machine. However, the disturbances resulting from system parameter perturbation, model uncertainty, unknown road condition, and uncertain preceding vehicle acceleration would degrade the control performance. To this issue, this article investigates a robust adaptive control scheme based on sliding mode control techniques to handle the complicated transient coupling driving problem for the electromechanical coupling driving process. In the robust adaptive control method, the coordinated control mechanism is designed using the electric machine to compensate for the response deviation of engine torque. Meanwhile, the double-loop adaptive terminal sliding mode speed-tracking control scheme and the adaptive dynamic sliding mode torque tracking control method are designed for the engine and the electric machine, respectively. The proposed control scheme ensures accurate tracking of the desired trajectories of the engine and electric machine in the presence of parameter perturbation and the unknown driving condition. Both simulation and actual vehicle experimental results demonstrate the effectiveness and practicality of the proposed control strategy.

Wu, Nailong; Gao, Tianming; Wang, Meng; Gao, Kunpeng; Qi, Jie; Chen, Xinyuan; Wang, Yueying; Feng, Zhiguang

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231198186

The challenge in autonomous docking and hook locking of multiple unmanned surface navigation platforms is to design an appropriate autonomous docking controller and ensure that the electric control hook can iteratively dock with the passive vessel. The current docking control solution for unmanned surface platforms needs to design an automatic tracking–generated trajectory and visual guidance docking system, capable of detecting the connection status after the hook-lock action to ensure a successful connection. However, most of the docking control designs for unmanned surface platforms pay more attention to the first-time success rate but pay less attention to the failures caused by complex and intelligent docking devices or environmental interference during docking. This article proposes a control strategy for autonomous docking and hook locking of two unmanned surface platforms. It guides the active vessel to the side of the passive vessel under the task requirements and triggers the visual docking control algorithm to complete the mechanical connection of the two joints. This method employs an iterative detection mechanism to improve the automatic hook and lock capability of both the active and passive vessels. The indoor pool and outdoor lake experiments demonstrate that the proposed method can successfully perform automatic iterative docking and hook locking, even in the presence of wave disturbance, showcasing the effectiveness of the proposed method.

Sulaiman, Shifa; Sudheer, AP; Magid, Evgeni

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231188497

Most of conventional controllers are prone to consume more computational time for controlling a wheeled humanoid robot. A nonlinear trajectory control of a wheeled humanoid robot using a model-based controller with less computational load and energy consumption is presented in this article. The upper body of the humanoid robot consists of two 6 degrees of freedom redundant arms, a three degrees of freedom torso and a two degrees of freedom neck. The nonholonomic mobile platform consists of two actuated wheels and two caster wheels. Nonlinearity of the robot dynamic model and coupling between various branches of the upper body are taken into account. The dynamic model derived using Newton–Euler approach along with decoupled Natural Orthogonal Complement matrix approach is used to derive dynamic equations of the upper body and the wheeled platform. Zero moment point based stability approach is used for verifying stable motion of the wheeled humanoid robot with minimum energy and time consumption to complete a task. The proposed computed torque controller is compared with other similar controllers developed for the same robot model to prove advantages of the proposed torque controller. Simulation results are experimentally validated with the real robot.

Mo, Jinchao; Qin, Datong; Liu, Yonggang

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231179886

The filling pressure control is one of the key technologies of wet clutches. Pressure sensor is a key component to realize the closed-loop control of the filling pressure. However, with the working hours increasing, the pressure sensor is prone to be faulty. To ensure the filling performance of wet clutches, this article investigates a pressure sensor fault diagnosis and fault-tolerant control strategy for the filling phase of wet clutches. First, the dynamic model of a hydraulic clutch control system is established where the clutch pressure sensor fault is considered. Second, the optimal filling pressure reference trajectory is constructed by Pontryagin’s minimum principle. In the fault-free case, a feedback controller is designed to track the desire pressure trajectory with an observer estimating the unmeasurable state of the system. Third, an adaptive observer is constructed to estimate the pressure sensor fault. Based on the estimated sensor fault information, a pressure sensor fault-tolerant control strategy is proposed for the filling phase of wet clutches. Simulation results show that the proposed fault-tolerant controller can realize smooth and precise clutch-filling control with pressure sensor fault.

Zhu, Chaoqun; Zhang, Pan; Lu, Zibao; Yang, Bin; Wang, Zhiwen

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231179887

The recursive filtering problem for a class of time-varying systems with mixed time-delays subject to stochastic communication protocol and dynamic quantization effects is discussed in this article. It is assumed that only one sensor can transmit the measured information to the filter at each sampling period, and the selected sensor is determined by the scheduling strategy of the stochastic communication protocol. Based on this assumption, the dynamic upper bound of the filtering error covariance is derived for time-varying systems with mixed time-delays and an underlying scheduling protocol by solving two Riccati difference equations in each sampling period. Then, the trace of the upper bound is minimized to obtain the filter gain with the desired filtering performance. Subsequently, the boundedness issue of the filtering error covariance is investigated. Sufficient conditions are given to ensure that the filtering error covariance is exponentially bounded in the mean square. Finally, numerical examples are given to demonstrate the effectiveness and superiority of the proposed algorithm.

Li, Xueyun; Wang, Yiping; Su, Chuqi; Gong, Xingle; Huang, Jin; Xu, Quanning

2023 Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

doi: 10.1177/09596518231188491

To minimize the human–machine conflict in the shared steering control system and protect the driving intention of the driver, a human-centered shared steering control system is proposed in obstacle avoidance scenarios. First, a framework is proposed based on the parallel shared steering control system framework, which includes the trajectory reconstruction, driver model, authority allocation model, autonomous controller, and vehicle. And mathematical model of the sub-modules in the shared steering control system is constructed. Then, the trajectory reconstruction method considering the driving intention of the driver is designed. A trigger mechanism with human–machine conflict as input is designed for trajectory reconstruction. More specifically, to protect the driving intention of the driver, the steering input of the driver is used as the constraint to reconstruct the trajectory. Finally, the effectiveness of the proposed method is verified by simulation. The simulation results show that the proposed method can effectively reduce human–machine conflict while the driving intention of the driver is protected. However, the trajectory tracking performance and lateral stability of the vehicle may be may sacrificed within a limited extent.