To solve the synchronization and tracking problems,a cooperative control scheme is proposed for a class of higher-order multi-input and multi-output(MIMO)nonlinear multi-agent systems(MASs)subjected to uncertainties a...To solve the synchronization and tracking problems,a cooperative control scheme is proposed for a class of higher-order multi-input and multi-output(MIMO)nonlinear multi-agent systems(MASs)subjected to uncertainties and external disturbances.First,coupled relationships among Laplace matrix,leader-following adjacency matrix and consensus error are analyzed based on undirected graph.Furthermore,nonlinear disturbance observers(NDOs)are designed to estimate compounded disturbances in MASs,and a distributed cooperative anti-disturbance control protocol is proposed for high-order MIMO nonlinear MASs based on the outputs of NDOs and dynamic surface control approach.Finally,the feasibility and effectiveness of the proposed scheme are proven based on Lyapunov stability theory and simulation experiments.展开更多
Underwater vehicles are being emphasized as highly integrated and intelligent devices for a significant number of oceanic operations. However, their precise operation is usually hindered by disturbances from a tether ...Underwater vehicles are being emphasized as highly integrated and intelligent devices for a significant number of oceanic operations. However, their precise operation is usually hindered by disturbances from a tether or manipulator because their propellers are unable to realize a stable suspension. A dynamic multi-body model-based adaptive controller was designed to allow the controller of the vehicle to observe and compensate for disturbances from a tether or manipulator. Disturbances, including those from a tether or manipulator, are deduced for the observation of the controller. An analysis of a tether disturbance covers the conditions of the surface, the underwater area, and the vehicle end point. Interactions between the vehicle and manipulator are mainly composed of coupling forces and restoring moments.To verify the robustness of the controller, path-following experiments on a streamlined autonomous underwater vehicle experiencing various disturbances were conducted in Song Hua Lake in China. Furthermore,path-following experiments for a tethered open frame remote operated vehicle were verified for accurate cruising with a controller and an observer, and vehicle and manipulator coordinate motion control during the simulation and experiments verified the effectiveness of the controller and observer for underwater operation. This study provides instructions for the control of an underwater vehicle experiencing disturbances from a tether or manipulator.展开更多
This paper investigates the event-triggered security consensus problem for nonlinear multi-agent systems(MASs)under denial-of-service(Do S)attacks over an undirected graph.A novel adaptive memory observer-based anti-d...This paper investigates the event-triggered security consensus problem for nonlinear multi-agent systems(MASs)under denial-of-service(Do S)attacks over an undirected graph.A novel adaptive memory observer-based anti-disturbance control scheme is presented to improve the observer accuracy by adding a buffer for the system output measurements.Meanwhile,this control scheme can also provide more reasonable control signals when Do S attacks occur.To save network resources,an adaptive memory event-triggered mechanism(AMETM)is also proposed and Zeno behavior is excluded.It is worth mentioning that the AMETM's updates do not require global information.Then,the observer and controller gains are obtained by using the linear matrix inequality(LMI)technique.Finally,simulation examples show the effectiveness of the proposed control scheme.展开更多
The objective of this paper is to investigate the consensus of the multi-agent systems w/th nonlinear coupling function and external disturbances. The disturbance includes two parts, one part is supposed to be generat...The objective of this paper is to investigate the consensus of the multi-agent systems w/th nonlinear coupling function and external disturbances. The disturbance includes two parts, one part is supposed to be generated by an exogenous system, which is not required to be neutrally stable as in the output regulation theory, the other part is the modeling uncertainty in the exogenous disturbance system. A novel composite disturbance observer based control （DOBC） and H∞ control scheme is presented so that the disturbance with the exogenous system can be estimated and compensated and the consensus of the multi-agent systems with fixed and switching graph can be reached by using Hoo control law. Simulations demonstrate the advantages of the proposed DOBC and H∞ control scheme.展开更多
The accurate identification and classification of various power quality disturbances are keys to ensuring high-quality electrical energy. In this study, the statistical characteristics of the disturbance signal of wav...The accurate identification and classification of various power quality disturbances are keys to ensuring high-quality electrical energy. In this study, the statistical characteristics of the disturbance signal of wavelet transform coefficients and wavelet transform energy distribution constitute feature vectors. These vectors are then trained and tested using SVM multi-class algorithms. Experimental results demonstrate that the SVM multi-class algorithms, which use the Gaussian radial basis function, exponential radial basis function, and hyperbolic tangent function as basis functions, are suitable methods for power quality disturbance classification.展开更多
提出可用于实际分析的断面潮流分析模型,通过选择观测断面,将对全网的分析转化为对每个观测断面的分析,从而实现全网的分散解耦分析。在该模型的基础上,简化了基于惯性中心的传统能量函数,对传统的稳定裕度指标进行改进,提出了稳定裕度...提出可用于实际分析的断面潮流分析模型,通过选择观测断面,将对全网的分析转化为对每个观测断面的分析,从而实现全网的分散解耦分析。在该模型的基础上,简化了基于惯性中心的传统能量函数,对传统的稳定裕度指标进行改进,提出了稳定裕度增量指标,该指标建立于电力系统联络线观测断面的基础上,计算简单方便,可对多重扰动下的低频振荡进行预警,且能应用于扰动严重性的判断。New England 10机系统和实际系统的仿真算例验证了该方法的有效性。展开更多
基金National Natural Science Foundation of China(No.61963029)Jiangxi Provincial Natural Science Foundation(Nos.20224BAB202027 and 20232ACB202007)。
文摘To solve the synchronization and tracking problems,a cooperative control scheme is proposed for a class of higher-order multi-input and multi-output(MIMO)nonlinear multi-agent systems(MASs)subjected to uncertainties and external disturbances.First,coupled relationships among Laplace matrix,leader-following adjacency matrix and consensus error are analyzed based on undirected graph.Furthermore,nonlinear disturbance observers(NDOs)are designed to estimate compounded disturbances in MASs,and a distributed cooperative anti-disturbance control protocol is proposed for high-order MIMO nonlinear MASs based on the outputs of NDOs and dynamic surface control approach.Finally,the feasibility and effectiveness of the proposed scheme are proven based on Lyapunov stability theory and simulation experiments.
基金Supported by National Natural Science Foundation of China(Grant Nos.5129050,51579053,61633009)Major National Science and Technology Project of China(Grant No.2015ZX01041101)Key Basic Research Project of "Shanghai Science and Technology Innovation Plan" of China (Grant No.15JC1403300)
文摘Underwater vehicles are being emphasized as highly integrated and intelligent devices for a significant number of oceanic operations. However, their precise operation is usually hindered by disturbances from a tether or manipulator because their propellers are unable to realize a stable suspension. A dynamic multi-body model-based adaptive controller was designed to allow the controller of the vehicle to observe and compensate for disturbances from a tether or manipulator. Disturbances, including those from a tether or manipulator, are deduced for the observation of the controller. An analysis of a tether disturbance covers the conditions of the surface, the underwater area, and the vehicle end point. Interactions between the vehicle and manipulator are mainly composed of coupling forces and restoring moments.To verify the robustness of the controller, path-following experiments on a streamlined autonomous underwater vehicle experiencing various disturbances were conducted in Song Hua Lake in China. Furthermore,path-following experiments for a tethered open frame remote operated vehicle were verified for accurate cruising with a controller and an observer, and vehicle and manipulator coordinate motion control during the simulation and experiments verified the effectiveness of the controller and observer for underwater operation. This study provides instructions for the control of an underwater vehicle experiencing disturbances from a tether or manipulator.
基金supported by the National Natural Science Foundation of China(61773056)the Scientific and Technological Innovation Foundation of Shunde Graduate School,University of Science and Technology Beijing(USTB)(BK19AE018)+2 种基金the Fundamental Research Funds for the Central Universities of USTB(FRF-TP-20-09B,230201606500061,FRF-DF-20-35,FRF-BD-19-002A)supported by Zhejiang Natural Science Foundation(LD21F030001)supported by the National Research Foundation of Korea(NRF)grant funded by the Korea government(Ministry of Science and Information and Communications Technology)(NRF-2020R1A2C1005449)。
文摘This paper investigates the event-triggered security consensus problem for nonlinear multi-agent systems(MASs)under denial-of-service(Do S)attacks over an undirected graph.A novel adaptive memory observer-based anti-disturbance control scheme is presented to improve the observer accuracy by adding a buffer for the system output measurements.Meanwhile,this control scheme can also provide more reasonable control signals when Do S attacks occur.To save network resources,an adaptive memory event-triggered mechanism(AMETM)is also proposed and Zeno behavior is excluded.It is worth mentioning that the AMETM's updates do not require global information.Then,the observer and controller gains are obtained by using the linear matrix inequality(LMI)technique.Finally,simulation examples show the effectiveness of the proposed control scheme.
基金Supported by the National Excellence Youth Science Foundation of China under Grant No.60925012the National Basic Research Science Program of China under Grant No.2012CB720000+3 种基金973 Programthe National Natural Science Foundation of China under Grant Nos.60875039,60904022,60805039,and 60774013the Science Foundation of China postdoctoral under Grant No.2011M500205the Natural Science Foundation of Shandong Province of China under Grant No.ZR2011FM017
文摘The objective of this paper is to investigate the consensus of the multi-agent systems w/th nonlinear coupling function and external disturbances. The disturbance includes two parts, one part is supposed to be generated by an exogenous system, which is not required to be neutrally stable as in the output regulation theory, the other part is the modeling uncertainty in the exogenous disturbance system. A novel composite disturbance observer based control （DOBC） and H∞ control scheme is presented so that the disturbance with the exogenous system can be estimated and compensated and the consensus of the multi-agent systems with fixed and switching graph can be reached by using Hoo control law. Simulations demonstrate the advantages of the proposed DOBC and H∞ control scheme.
文摘The accurate identification and classification of various power quality disturbances are keys to ensuring high-quality electrical energy. In this study, the statistical characteristics of the disturbance signal of wavelet transform coefficients and wavelet transform energy distribution constitute feature vectors. These vectors are then trained and tested using SVM multi-class algorithms. Experimental results demonstrate that the SVM multi-class algorithms, which use the Gaussian radial basis function, exponential radial basis function, and hyperbolic tangent function as basis functions, are suitable methods for power quality disturbance classification.
文摘提出可用于实际分析的断面潮流分析模型,通过选择观测断面,将对全网的分析转化为对每个观测断面的分析,从而实现全网的分散解耦分析。在该模型的基础上,简化了基于惯性中心的传统能量函数,对传统的稳定裕度指标进行改进,提出了稳定裕度增量指标,该指标建立于电力系统联络线观测断面的基础上,计算简单方便,可对多重扰动下的低频振荡进行预警,且能应用于扰动严重性的判断。New England 10机系统和实际系统的仿真算例验证了该方法的有效性。
