Leader-following Synchronization Control of Multiple Electrohydraulic Actuators Under Switching Network Topologies

2021 ◽  
Author(s):  
Qing Guo ◽  
Zhenlei Chen ◽  
Dan Jiang
Keyword(s):  
Nonlinear Models ◽  
Switching Network ◽  
Synchronization Control ◽  
Lie Derivative ◽  
Hydraulic Actuator ◽  
Synchronization Errors ◽  
Lyapunov Techniques ◽  
Leader Following ◽  
Network Topologies ◽  
Electrohydraulic Actuators

Abstract A leader-following quasi-synchronization control is proposed in multiple electrohydraulic actuators (MEHAs) under different switching network topologies to guarantee the follower electrohydraulic actuators (EHAs) tracking the leader motion. Firstly, each electro-hydraulic actuator (EHA) has a 3-order nonlinear dynamics with unknown external load. Then by using Lie derivative technique, the MEHAs nonlinear models with $n+1$ nodes are feedback linearized for convenient control design. Furthermore, the leader node is constructed as a virtual simulation model to be stabilized by PI controller. Meanwhile, a quasi-synchronized controller together with a disturbance observer is designed by LMI and Lyapunov techniques to guarantee that the synchronization errors between the n follower nodes and the leader node 0 are uniformly ultimate boundaries. Finally, the effectiveness of the leader-following quasi-synchronized controller is verified by a MEHAs experimental bench with 3 EHAs under switching network topologies.

scholarly journals Consensus for Multiple Unmanned Surface Vehicle (Musv) Systems with Markov Switching Topologies

2019 ◽  
Vol 26 (1) ◽  
pp. 145-152
Author(s):  
Liyuan Wang ◽  
Wei Yue ◽  
Rubo Zhang
Keyword(s):  
Switching Network ◽  
Linear Matrix ◽  
Sampled Data ◽  
Consensus Control ◽  
Unmanned Surface Vehicle ◽  
Control Scheme ◽  
Random Switching ◽  
Leader Following ◽  
Network Topologies ◽  
Wave Induced

Abstract This paper is concerned with sampled-data leader following consensus of multiple unmanned surface vehicle (MUSV) systems with random switching network topologies and wave-induced disturbance. By modelling the switching of network topologies with the use of a Markov process and considering the effect of wave-induced disturbance, a new sampled-data consensus control protocol is proposed. By employing an appropriate Lyapunov-Krosovskii function method and the weak infinitesimal operation, a novel stability criterion is derived, which ensures that the MUSV system can reach robustly leader-following consensus with H∞ performance satisfied. Based on this criterion, the Markov dependent switching consensus controller gains are obtained by solving a set of linear matrix inequalities. Finally, an illustrative example is given to verify the effectiveness of the proposed control scheme for MUSV systems.

scholarly journals Active Disturbance Rejection Position Synchronous Control of Dual-Hydraulic Actuators with Unknown Dead-Zones

Sensors ◽  
2020 ◽  
Vol 20 (21) ◽  
pp. 6124
Author(s):  
Lixin Wang ◽  
Dingxuan Zhao ◽  
Fucai Liu ◽  
Qian Liu ◽  
Zhuxin Zhang
Keyword(s):  
Disturbance Rejection ◽  
Position Control ◽  
Dead Zone ◽  
Lyapunov Theory ◽  
Least Square ◽  
Synchronization Control ◽  
Hydraulic Actuator ◽  
Dead Zones ◽  
Hydraulic Actuators ◽  
Active Disturbance Rejection

In this paper, an integrated control strategy of position synchronization control for dual-electro-hydraulic actuators with unknown dead-zones is proposed. The unified control scheme consists of two parts: One is adaptive dead-zone inverse controllers of each hydraulic actuator to offset the unknown dead-zones. The other is the linear active disturbance rejection controller (LADRC) for position synchronization error. First, the model of the electro-hydraulic proportional position control system (EPPS) was identified by the forgetting factor recursive least square (FFRLS) algorithm. Next, the model reference dead-zone inverse adaptive controller (MRDIAC) was developed to compensate for the delay of actuator response caused by unknown proportional valve dead-zones. Meanwhile, the validity of the adaptive law was proven by the Lyapunov theory. Therefore, the position control accuracy of each hydraulic actuator is guaranteed. Besides, to improve the precision of position synchronization control of dual-hydraulic actuators, a simple and elegant synchronous error-based LADRC was adopted, which applies the total disturbances design concept to eliminate and compensate for motion coupling rather than cross-coupling technology. The performance of the proposed control solution was investigated through extensive comparative experiments based on a hydraulic test platform. The experimental results successfully demonstrate the effectiveness and practicality of the proposed method.

Leader-Following Adaptive Consensus of Multiple Uncertain Rigid Body Systems over Jointly Connected Networks

2019 ◽  
Vol 08 (02) ◽  
pp. 85-93
Author(s):  
Tianqi Wang ◽  
Jie Huang
Keyword(s):  
Adaptive Control ◽  
Rigid Body ◽  
Switching Network ◽  
Control Law ◽  
Consensus Problem ◽  
System Matrix ◽  
Switching Networks ◽  
Distributed Adaptive Control ◽  
Leader Following ◽  
Adaptive Control Law

The leader-following consensus problem of a group of uncertain multiple rigid body systems subject to static networks has been solved by a distributed adaptive control law utilizing the distributed observer for the leader system. In this paper, we extend this result to jointly connected switching networks. This extension needs to overcome the discontinuity of some variables caused by the switching network. Additionally, we remove the assumption that every follower knows the system matrix of the leader system by employing an adaptive distributed observer for the leader system.

Emergence of mono-cluster flocking in the thermomechanical Cucker–Smale model under switching topologies

2020 ◽  
pp. 1-38
Author(s):  
Jiu-Gang Dong ◽  
Seung-Yeal Ha ◽  
Doheon Kim
Keyword(s):  
Spanning Tree ◽  
Spanning Trees ◽  
Dynamical Variable ◽  
Switching Network ◽  
Logarithmic Function ◽  
System Parameters ◽  
Network Topologies ◽  
Isothermal Case ◽  
Uniformly Bounded ◽  
Emergent Dynamics

We study the emergent dynamics of the thermomechanical Cucker–Smale (TCS) model with switching network topologies. The TCS model is a generalized CS model with extra internal dynamical variable called “temperature” in which isothermal case exactly coincides with the CS model for flocking. In previous studies, emergent dynamics of the TCS model has been mostly restricted to some static network topologies such as complete graph, connected graph with positive in and out degrees at each node, and digraphs with spanning trees. In this paper, we consider switching network topologies with a spanning tree in a sequence of time-blocks, and present two sufficient frameworks leading to the asymptotic mono-cluster flocking in terms of initial data and system parameters. In the first framework in which the sizes of time-blocks are uniformly bounded by some positive constant, we show that temperature and velocity diameters tend to zero exponentially fast, and spatial diameter is uniformly bounded. In the second framework, we admit a situation in which the sizes of time-blocks may grow mildly by a logarithmic function. In latter framework, our temperature and velocity diameters tend to zero at least algebraically slow.

Sign in / Sign up

Export Citation Format

Share Document