We develop a delay-adaptive controller for a class of first-order hyperbolic partial integro-differential equations (PIDEs) with an unknown input delay. By employing a transport PDE to represent delayed actuator states, the system is transformed into a transport partial differential equation (PDE) with unknown propagation speed cascaded with a PIDE. A parameter update law is designed using a Lyapunov argument and the infinite-dimensional backstepping technique to establish global stability results. Furthermore, the well-posedness of the closed-loop system is analyzed. Finally, the effectiveness of the proposed method was validated through numerical simulations.

In this paper, an event-triggered nearly optimal tracking control method is investigated for a class of uncertain nonlinear systems by integrating adaptive dynamic programming (ADP) and integral sliding mode (ISM) control. By introducing a neural network (NN) adaptive term, the designed ISM-based discontinuous control law is employed to eliminate the influence of the uncertainties and obtain the tracking error system constructed from the sliding mode dynamics, as well as relax the known upper-bounded condition of uncertainties. In order to guarantee the stability of tracking error system and improve the control performance, under the ADP technique, a critic NN is applied to approximate the optimal value function for solving the event-triggered Hamilton-Jacobi-Bellman equation and the event-triggered nearly optimal feedback control is obtained. The feedback control law is updated and transmitted to plant only when events occur, thus both the communication and the computational resources can be saved. Furthermore, the stability of tracking error is proven thanks to Lyapunov’s direct method. Finally, we provide two simulation examples to validate the developed control scheme.

Malicious attack is a potential threat for collision-free and connectivity-preserving formation control. In this paper, a predictor-based collision-free and connectivity-preserving resilient formation control strategy is presented for a class of nonlinear multi-agent systems under sensor deception attacks. The predictor states are designed to replace original states in the control strategy, and a novel attack compensator is constructed to suppress sensor deception attack. Prediction errors, instead of compromised errors, are introduced to update radial basis function neural networks (RBFNNs) weights. To achieve collision avoidance and connectivity preservation, a transformation function in logarithmic form is proposed. To avoid static and dynamic obstacles, an improved artificial potential function (APF) combined with their velocity information is constructed. Furthermore, to solve the local minimum in the combining of transformation function and APF, a virtual force is added to make agents get away. Based on the Lyapunov stability criterion, all closed-loop signals are bounded and all control objectives can be achieved. The simulation of a group of quadrotors has verified the effectiveness of the proposed resilient control strategy.

Under the framework of the step-function method, the stability of a nonlinear fuzzy hybrid control system combining an impulsive controller and a continuous state feedback controller is investigated. Both the two controllers are assumed to be subject to both actuator saturation and time-varying delays, which has received little attention if any, in the existing studies. A new assumption is established enabling the use of generalized sector conditions to tackle the double saturation, and the conservatism of the stability results is remarkably reduced thanks to the improved step-function method. The stability theorem proposed in this paper removes restriction on the time delays of both controllers, which can be also applied to wider scopes of systems, including hybrid control systems with both stabilizing and instabilizing impulses, systems with varying impulsive gain, and systems with Zeno behavior. Numerical simulations of stabilization for different systems by delayed saturated hybrid control have been conducted, which demonstrate the validity of proposed theorems.

The identification of multiple-input multiple-output (MIMO) systems is an important part of designing complex control systems. This paper studies an auxiliary model least squares iterative (AM-LSI) algorithm for MIMO systems. With the expansion of the system scale and limitations of the computer resources, there is an urgent need for an identification algorithm that provides higher computational efficiency. To address this issue, this paper further derives a hierarchical identification model and proposes a new auxiliary model hierarchical least squares iterative (AM-HLSI) algorithm for MIMO systems by applying the hierarchical identification principle. Through the analysis of the computational efficiency, the AM-HLSI algorithm has higher computational efficiency than the AM-LSI algorithm. Additionally, the feasibility of the AM-LSI and AM-HLSI algorithms is validated by a simulation example.

This article researches the trajectory tracking problem for unmanned marine vehicles (UMVs) with disturbances and under denial-of-services (DoS) attacks in the wireless channel. By applying the partial form dynamic linearization algorithm, an equivalent data-driven model of the UMVs with ocean disturbances is firstly established. And the disturbances are estimated by using extended state observer, which improves the immunity of the UMVs to disturbances in the environment, and the robustness of the UMVs systems is better. It is the first time that the DoS attacks are considered under the data model for UMVs, and a novel data-driven adaptive trajectory tracking control framework is constructed. When the proposed equivalent data model suffers from DoS attacks which follows the Bernoulli distribution, an attack predictive compensation mechanism is devised to relieve the influence of DoS attacks. Based on it, the data-driven adaptive trajectory tracking controller is designed such that the error of trajectory tracking is convergent under DoS attacks and external disturbances. Finally, the effectiveness of the proposed data-driven control scheme and the predictive compensation mechanism is validated through the simulations.

In the emergency rescue and disposal of social public emergencies, supply transportation effectively provides a strong supply foundation and realistic conditions. The trajectory tracking control of emergency supplies transportation robot is the key technology to ensure the timeliness of transportation. In this paper, the emergency supplies transportation robot is taken as the research object, based on Koopman operator theory, combined with radial basis function (RBF) neural network disturbance observer and adaptive prediction horizon event-triggered model predictive control (APET-MPC) algorithm to investigate the purely data-driven trajectory tracking control problem of emergency supplies transportation robot when the model parameters and models are unknown. Firstly, the Koopman operator is used to establish a high-dimensional linear model of the robot. Secondly, the RBF neural network disturbance observer is designed to estimate the disturbance during the robot operation and compensate it to the controller. Thirdly, APET-MPC is used to optimize the trajectory tracking control of the emergency supplies transportation robot to reduce computational complexity. Finally, the performance of the proposed trajectory tracking controller is verified by Carsim/ Simulink joint simulation. The simulation results show that the model established by Koopman operator theory can achieve the high accuracy approximation of the robot. Compared with the MPC trajectory tracking controller, the APET-MPC trajectory tracking controller based on RBF neural network disturbance observer (RBF-APET-MPC) improves the tracking accuracy of the robot and reduces the total triggering times of the system by more than 50%.

This article explores recursive algorithms for parameter identification issues of Hammerstein output-error systems. The proposed approach includes the key term separation auxiliary model recursive gradient algorithm, which utilizes the gradient search and the key term separation. To enhance computational efficiency, the system is decomposed into two or three subsystems through the hierarchical identification principle. Based on this, a key term separation auxiliary model two-stage recursive gradient algorithm and a key term separation auxiliary model three-stage recursive gradient algorithm are presented. The simulation results verify the validity of the obtained algorithms.

The paper devises a H ∞ -norm theory for the CSVIU (control and state variations increase uncertainty) class of stochastic systems. This system model appeals to stochastic control problems to express the state evolution of a possibly nonlinear dynamic system restraint to poor modeling. Contrary to other H ∞ stochastic formulations that mimic deterministic models dealing with finite energy disturbances, the focus is on the H ∞ control with infinity energy disturbance signals. Thus, the approach portrays the persistent perturbations due to the environment more naturally. In this regard, it requires a refined connection between a suitable notion of stability and the systems’ energy or power finiteness. It delves into the control solution employing the relations between H ∞ optimization and differential games, connecting the worst-case stability analysis of CSVIU systems with a perturbed Lyapunov type of equation. The norm characterization relies on the optimal cost induced by the Min-Max control strategy. The rise of a pure saddle point is linked to the solvability of a modified Riccati-type equation in a form known as a generalized game-type Riccati equation, which yields the solution of the CSVIU dynamic game. The emerging optimal disturbance compensator produces inaction regions in the sense that, for sufficiently minor deviations from the model, the optimal action is constant or null in the face of the uncertainty involved. A numerical example illustrates the synthesis.

In this paper, by considering the existence of unavailable state, external disturbance, and denial of service (DoS) attacks, an anti-disturbance trajectory tracking controller is proposed for the air-ground system composed of unmanned autonomous helicopter (UAH) and unmanned ground vehicle (UGV). Initially, by combining the advantages of conventional event-triggered scheme (ETS) and memory ETS, a switching-like event-triggered mechanism is put forward, which can cause less data transmissions without reducing control performance, and effectively restrain the DoS attacks. Secondly, by dividing the DoS attacks into active intervals and sleep ones, the concept of acknowledgement character technology (ACK) is presented to determine the suitable type of time intervals. Thirdly, the switching-like dynamic ETS is introduced for the sleep intervals of DoS attacks while the ETS with fixed triggered-threshold is exploited for the active intervals. Fourthly, based on the occurrence of the DoS attacks, a switching-like observer and a normal one are respectively proposed to estimate the UGV state, the UAH state, the reference input of the UGV, and the disturbance of the UAH, which are utilized to design the anti-disturbance tracking controller. Fifthly, an augmented closed-loop system consisting of observation errors and tracking error is established and its stability is analyzed by using Lyapunov stability theory. Then, a sufficient condition on co-designing the parameters of switching-like ETS, observers, and tracking controller is presented in terms of linear matrix inequalities (LMI). Finally, the validity and superiority of the proposed control scheme are verified by resorting to simulations and comparisons.

The paper focuses on the problem of formal synthesis of controllers for control-affine nonlinear systems against complex properties. Our goal is to design a closed-form control policy that guarantees the satisfaction of complex properties that are expressed using ( ω)-regular languages and equivalently recognized by Non-deterministic Büchi Automata (NBA). We propose leveraging a funnel-based control approach to provide a closed-form solution to the problem. Our approach decomposes the specification represented by NBA into a sequence of reachability problems which we solve using a funnel-based control approach. Controllers associated with each reachability problem are then combined to design a hybrid control policy enforcing the desired ( ω)-regular property. We demonstrate the effectiveness of the proposed results on room temperature control and mobile robot motion control case studies.

This paper studies the practical fixed-time average consensus problem for general continuous linear multi-agent systems under switching topologies. Firstly, a distributed fixed-time consensus control protocol based on dynamic event-triggered mechanism is designed by using the local information exchange between individual agents. The protocol introduces auxiliary dynamic variables, and the triggering condition changes in real time based on the dynamic variable obtained online, which can significantly reduce the number of triggering events, effectively decrease the energy dissipation of the system and the update frequency of the controller. Then, under the designed control protocol, the sufficient conditions for the multi-agent system to solve the practical fixed-time average consensus problem are given, and it is proved that there is no Zeno behavior in the system. Finally, the simulation results verify the effectiveness of the conclusions.

This investigation proposes a dynamic event-triggered-based anti-disturbance control technique for the uncertain linear parameter varying (LPV) systems subject to multiple disturbances. The disturbances are comprised of two parts including the unavailable modeled disturbances and the available unmodeled disturbances. First, an observer is constructed to capture the unavailable modeled disturbances. Then, a dynamic event-triggered-based feedback controller is proposed. Further, under the developed event-triggered controller, sufficient conditions are presented for the uncertain LPV systems to achieve the multiple disturbances suppression and communication transmission resources saving. In the end, the reasonability of the raised dynamic event-triggered based anti-disturbance control scheme is verified by an example of a turbofan.

Objective: Hybrid cardiovascular mock circuits (HMC), designed for dynamic testing of Ventricular Assist Devices (VAD), offer physiologic accuracy by sequestering model complexity in silico and ease of construction by reducing number of model elements in vitro. Despite superior response time and precision, pneumatic actuation is avoided in HMCs due to nonlinear dynamics and noise. We tested the hypothesis that a HMC consisting of a variable elastance-driven numerical circuit coupled to a pneumo-hydraulic physical circuit can be controlled without linearizing system dynamics. Methods: Reference left ventricular and aortic pressures generated in silico were tracked, respectively, in in vitro preload and afterload reservoirs by controlling non-linear pneumatic dynamics using the Lyapunov stability criterion. A centrifugal pump, the speed (i.e. flow) of which was adjusted using PID control, was interposed between the reservoirs and mimicked the VAD under evaluation. The flow of a recirculating gear pump was controlled by the backstepping method to equalize reservoir fluid volumes by rejecting pressure and flow disturbances. Sensor noise was reduced with discrete-time Kalman filtering. Results: Our results showed that normal, failing and assisted cardiovascular physiologies were numerically simulated and tracked at physical VAD terminals with high accuracy. Reservoir volumes remained stable at various combinations of heart rate, pressure, and VAD flow. Conclusion: The HMC described here offers a stable performance testing platform for VAD prototypes. Significance : This is the first proof that hybrid systems using pneumatic actuation at hydraulic interfaces can optimally be regulated with nonlinear controllers to achieve precise reference tracking and robust disturbance rejection.

In this article, the switching-like adaptive event-triggered dynamic output feedback H ∞ control for the interval type-2 (IT-2) Takagi-Sugeno (T-S) fuzzy system over networks with hybrid attacks and Markovian packet losses is investigated. The switching-like adaptive event-triggered mechanism (SAETM) is involved with the characteristic of dynamically adjusting trigger threshold according to the change of the system states and appropriately selecting the event-triggered scheme in the light of the packet loss process is creatively proposed. The hybrid attack which is consisted of deception attack and aperiodic Denial-of-Service (DoS) attack is considered, and the deception attack is expressed as the Bernoulli random variable, while the aperiodic DoS attack is characterized by the frequency and duration in view of the average dell-time (ADT) technique. By applying the packet loss dependent multiple Lyapunov function technique and iterative method, the sufficient condition is derived to address the stability of NCS, and the existence condition is established to guarantee the prescribed performance of the H ∞ controller. Finally, two simulation examples are applied to show the availability of the provided algorithm.

In this paper, we discuss how to synthesize stabilizing Model Predictive Control (MPC) algorithms based on convexly parameterized Integral Quadratic Constraints (IQCs), with the aid of general multipliers. Specifically, we consider Lur’e systems subject to sector-bounded and slope-restricted nonlinearities. As the main novelty, we introduce point-wise IQCs with storage in order to accordingly generate the MPC terminal ingredients, thus enabling closed-loop stability, strict dissipativity with regard to the nonlinear feedback, and recursive feasibility of the optimization. Specifically, we consider formulations involving both static and dynamic multipliers, and provide corresponding algorithms for the synthesis procedures. The major benefit of the proposed approach resides in the flexibility of the IQC framework, which is capable to deal with many classes of uncertainties and nonlinearities. Moreover, for the considered class of nonlinearities, our method yields larger regions of attraction of the synthesized predictive controllers (with reduced conservatism) if compared to the standard approach to deal with sector constraints from the literature.

This paper presents a Youla-Kucera based interpolation between a set of Linear Parameter-Varying (LPV) controllers, each one being a gain-scheduled of Linear Time-Invariant (LTI) controllers designed separately for different operating points. The gain-scheduling is achieved based on Youla-Kucera (YK) parameterization. A generalized LPV-YK control structure is designed to interpolate between various LPV controllers. The closed-loop system is proved to guarantee the quadratic stability for any continuous/discontinuous interpolating signals in terms of a set of Linear Matrix Inequalities (LMIs). The proposed method can help multi-variable and multi-objective systems to achieve high performances at different operating conditions and different critical situations regardless of the interpolation rate. A numerical example is simulated to show the importance of the proposed method to achieve different objectives for lateral control of autonomous vehicles. In addition, the approach has been tested on a real Renault ZOE vehicle to validate its real performance, and compare it with a standard polytopic LPV controller.

In this paper, an enclosing control problem is investigated for nonholonomic mobile agents with a moving target of unknown velocity. An adaptive observer containing two internal variables is first designed for each agent to compensate for the lack of the target velocity information. One variable is designed to estimate the unknown target velocity and further its estimation error is assessed by the other internal variable to subsequently guarantee the control performance. Then using the estimated information from the adaptive observer, a dynamic control law for circular formation of nonholonomic agents around the moving target is designed by a backstepping process. The global asymptotical stability of the closed-loop system is achieved under the proposed dynamic control law with the adaptive observer. Finally, a simulation is conducted to demonstrate the effectiveness of the proposed approach.