Connectivity-preserving-based distributed adaptive asymptotically synchronised tracking of networked uncertain nonholonomic mobile robots with actuator failures and unknown control directions

2021 ◽  
pp. 1-17
Author(s):  
Yujing Xu ◽  
Chaoli Wang ◽  
Weigang Yan ◽  
Mingfeng Lin ◽  
Jianguo Tao
Keyword(s):  
Mobile Robots ◽  
Nonholonomic Mobile Robots ◽  
Actuator Failures ◽  
Unknown Control Directions ◽  
Unknown Control

Fault Compensation Control of MIMO Nonlinear Systems Subject to Unknown Control Directions

2021 ◽  
Author(s):  
Yi-Fan Dun ◽  
Li-Bing Wu ◽  
Yu-Han Hu ◽  
Jun-Mei Fan ◽  
Zhi-Guo Zhang
Keyword(s):  
Nonlinear Systems ◽  
State Feedback ◽  
Low Complexity ◽  
The State ◽  
Continuous Control ◽  
Actuator Failures ◽  
Unknown Control Directions ◽  
Proof By Contradiction ◽  
Fault Compensation ◽  
Unknown Control

Abstract This study is primarily focused on the issue of low-complexity prescribed performance fault compensation for multi-input and multi-output (MIMO) uncertain nonlinear systems with actuator failures, coupling states, and unknown control directions. First of all, proper logarithm-type error conversion functions and smooth orientation functions are linked to design the continuous control signals in the state feedback controller. Then, based on the idea of proof by contradiction, it is shown that the state errors converge to a predictable compact aggregate at the definite rate. Meanwhile, the boundedness of any closed-loop signals might be guaranteed. The simulation example results are delivered to demonstrate the effectiveness of the developed control strategy at last.

Two-layer distributed formation-containment control of multiple Euler–Lagrange systems with unknown control directions

2020 ◽  
Vol 387 ◽  
pp. 359-368 ◽  
Author(s):  
Luyan Xu ◽  
Chaoli Wang ◽  
Xuan Cai ◽  
Yujing Xu ◽  
Chonglin Jing
Keyword(s):  
Containment Control ◽  
Unknown Control Directions ◽  
Unknown Control
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