Switched Model Predictive Control for Nonholonomic Mobile Robots Under Adaptive Dwell Time.

In this article, switched model predictive control (MPC) is proposed for nonholonomic mobile robots with adaptive dwell time and a dual-terminal set. The dual-terminal set is used to reduce on-line complexity of the switched MPC for the nonholonomic mobile robots with multiple constraints. By a switched signal with the adaptive dwell time, cost functions are switched to improve control performance under multiple constraints.

Stubborn Observer for Leader-Following Consensus of Nonlinear Multiagent Systems With Application to Spacecraft.

In this article, the leader-following consensus problem is investigated for a class of nonlinear multiagent systems with transmission outliers. First, through the relative output information and observer states of neighbor agents, a distributed stubborn reduced-order observer is proposed to estimate the leader-following consensus error which is affected by abnormal and isolated transmission outliers. Moreover, considering that the leader agent in practice is a controllable plant, another distributed stubborn reduced-order observer is designed by using the relative information and inputs of neighbor agents.

EMPC with adaptive APF of obstacle avoidance and trajectory tracking for autonomous electric vehicles.

In this paper, event-triggered model predictive control (EMPC) with adaptive artificial potential field (APF) is designed to realize obstacle avoidance and trajectory tracking for autonomous electric vehicles. An adaptive APF cost function is added to achieve obstacle avoidance and guarantee stability. The optimization problem for MPC is feasible by considering a special obstacle avoidance constraint.

Trajectory Tracking and Obstacle Avoidance for Wheeled Mobile Robots Based on EMPC With an Adaptive Prediction Horizon.

This article develops an event-triggered model-predictive control (EMPC) strategy to realize trajectory tracking and obstacle avoidance for a wheeled mobile robot (WMR) subject to input constraints and external disturbances. In the EMPC strategy, a potential field is introduced in the cost function to guarantee a smooth path for the WMR. An event-triggered mechanism is designed to reduce the computational load of solving an optimal control problem (OCP).

Extended State Functional Observer-Based Event-Driven Disturbance Rejection Control for Discrete-Time Systems.

In this article, an event-driven output feedback control approach is proposed for discrete-time systems with unknown mismatched disturbances. To estimate the unavailable states and disturbances, a reduced-order extended state functional observer is proposed, and by introducing an event-driven scheduler, the ZOH-based event-driven output feedback disturbance rejection controller is designed, and the stability and disturbance rejection analyses are performed. To further save the network resources, the predictive event-driven output feedback disturbance rejection control approach is proposed, and the stability and disturbance rejection analyses of the systems with predictive control are also conducted.

Resilient Control for Wireless Cyber-Physical Systems Subject to Jamming Attacks: A Cross-Layer Dynamic Game Approach.

For wireless cyber-physical systems (CPSs) suffering jamming attacks, an optimal resilient control method is proposed through a novel cross-layer dynamic game structure in this article. To confirm to practical conditions of the cyber-layer, incomplete communication information is taken into consideration, and a Bayesian Stackelberg game approach is utilized to model interactions between a smart jammer and a cyber-user. Then, an H optimal resilient controller is studied for the closed-loop system with jam-induced packet losses and external disturbance in the sense of physical layer.

Distributed Kalman Filtering Over Sensor Networks With Transmission Delays.

This article is concerned with a distributed state estimation problem over sensor networks. The communication links of the sensor networks are subject to bounded time-varying transmission delays. A distributed Kalman filtering algorithm is designed to estimate the state based on a Kalman consensus filtering algorithm.

Predictive cloud control for multiagent systems with stochastic event-triggered schedule.

This paper addresses a predictive cloud control problem for a linear multiagent system with random network delays and noises. To reduce communication cost, a stochastic event-triggered schedule is introduced to decide whether current measurements need to be transmitted. An optimal state estimation algorithm is designed to compensate random network delays in the feedback channel.

Event-Triggered Active MPC for Nonlinear Multiagent Systems With Packet Losses.

In this paper, event-triggered active model predictive control is investigated for a nonlinear multiagent system (MAS) with packet losses. By designing event-triggered mechanisms which reduce sensing cost, event-triggered conditions are detected at certain sampling instants. The prediction horizons of all agents are selected actively through the event-triggered mechanisms.

H Static Output Feedback for Low-Frequency Networked Control Systems With a Decentralized Event-Triggered Scheme.

This paper investigates an H static output feedback for a low-frequency (LF) networked control system (NCS). A decentralized event-triggered scheme (DETS) is proposed to reduce the network communication loads. The LF NCS with the DETS is modeled as a time-delay system with an LF constraint.

Position control of a rodless cylinder in pneumatic servo with actuator saturation.

In this paper, positioning control of a rodless cylinder in pneumatic servo systems with actuator saturation is investigated via an active disturbance rejection control. A linear extended state observer is designed to estimate and compensate strong friction force and other nonlinearities in the pneumatic rodless cylinder system. An actuator saturation linear feedback control law is developed to further improve the control performance.

Near-Nash Equilibrium Control Strategy for Discrete-Time Nonlinear Systems With Round-Robin Protocol.

In this paper, the near-Nash equilibrium (NE) control strategies are investigated for a class of discrete-time nonlinear systems subjected to the round-robin protocol (RRP). In the studied systems, three types of complexities, namely, the additive nonlinearities, the RRP, and the output feedback form of controllers, are simultaneously taken into consideration. To tackle these complexities, an approximate dynamic programing (ADP) algorithm is first developed for NE control strategies by solving the coupled Bellman's equation.

Adaptive Fuzzy Tracking Control for Strict-Feedback Markov Jumping Nonlinear Systems With Actuator Failures and Unmodeled Dynamics.

In this paper, an adaptive fuzzy tracking controller is developed for a class of strict-feedback Markovian jumping systems subjected to multisource uncertainties. The unpredictable actuator failures, the unknown nonlinearities, and the unmodeled dynamics are simultaneously taken into consideration, which evolve according to the Markov chain. It is noted that the elements in the transition rate matrix of the Markov chain are not fully available.

Remote Nonlinear State Estimation With Stochastic Event-Triggered Sensor Schedule.

This paper concentrates on the remote state estimation problem for nonlinear systems over a communication-limited wireless sensor network. Because of the non-Gaussian property caused by nonlinear transformation, the unscented transformation technique is exploited to obtain approximate Gaussian probability distributions of state and measurement. To reduce excessive data transmission, uncontrollable and controllable stochastic event-triggered scheduling schemes are developed to decide whether the current measurement should be transmitted.

Double-Loop Stability for High Frequency Networked Control Systems Subject to Actuator Saturation.

This paper generalizes stability for a high frequency networked control system (NCS) subject to actuator saturation via integral quadratic constraints. A delta operator system with a high frequency constraint is used to model the high frequency NCS. Double-loop stability is treated via outer-loop and interloop feedback configurations for the high frequency NCS.

Security Research on Wireless Networked Control Systems Subject to Jamming Attacks.

In this paper, a countermeasure for wireless networked control systems suffering from jamming attacks is studied by a variable sampling approach. A Stackelberg game framework is utilized to analyze interactions between a smart jammer and a legitimate user. The variable sampling approach is exploited to deal with data packets dropout between a sensor and a controller.

Networked Predictive Control for Nonlinear Systems With Arbitrary Region Quantizers.

In this paper, networked predictive control is investigated for planar nonlinear systems with quantization by an extended state observer (ESO). The ESO is used not only to deal with nonlinear terms but also to generate predictive states for dealing with network-induced delays. Two arbitrary region quantizers are applied to take effective values of signals in forward channel and feedback channel, respectively.

Event-Driven Control for Networked Control Systems With Quantization and Markov Packet Losses.

In this paper, event-driven is used in a networked control system (NCS) which is subjected to the effect of quantization and packet losses. A discrete event-detector is used to monitor specific events in the NCS. Both an arbitrary region quantizer and Markov jump packet losses are also considered for the NCS.

Fault Detection for T-S Fuzzy Discrete Systems in Finite-Frequency Domain.

This paper investigates the problem of fault detection for Takagi-Sugeno (T-S) fuzzy discrete systems in finite-frequency domain. By means of the T-S fuzzy model, both a fuzzy fault detection filter system and the dynamics of filtering error generator are constructed. Two finite-frequency performance indices are introduced to measure fault sensitivity and disturbance robustness.