Adaptive Fuzzy Event-Triggered Sliding-Mode Control for Uncertain Euler–Lagrange Systems With Performance Specifications

Yang, Wenyi; Yang, Xixiang; Yan, Huaicheng; Chadli, Mohammed; Wang, Yueying

doi:10.1109/tfuzz.2022.3205777

Cited by 9 publications

(11 citation statements)

References 43 publications

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“…+ e T (t)(Θ(t) ⊗ P )e(t) V2(t) (12) where Θ(t) = diag(θ 1 (t), ..., θ N (t)) > 0 and Θ(t) < 0 by definition of (10), then V (t) ≥ 0. Note that V (t) is a continuous function, which is different from the literature [20].…”

Section: B Improved Dynamic Event-triggered Control With Adjustable I...mentioning

confidence: 99%

“…Replace θi by (10), we have V < 0, which means lim t→∞ ||ε i (t)|| = 0 and the MAS (1) reaches leaderfollowing consensus asymptotically.…”

Section: B Improved Dynamic Event-triggered Control With Adjustable I...mentioning

confidence: 99%

“…This problem motivated a event-triggered mechanisms (ETM), which enables a minimum rate of data sampling, communication, and control update while the system performance is still guaranteed. This strategy was first introduced in [8], then gains significant development and is applied in different dynamic systems [9] [10]. The ETM was first used to handle the consensus problem of MASs in [11], then has been developed for generic linear MASs [12] [13] and nonlinear MASs [14],…”

Section: Introductionmentioning

confidence: 99%

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Improved Dynamic Event-Triggered Consensus Control for Multi-Agent Systems with Designable Inter-Event Time

Wang

Chadli

2023

Preprint

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This paper considers the leader-following consensus control for linear multi-agent systems. Two improved dynamic event-triggered control frameworks are proposed. The first one is based on a moving average approach, whereas the second is a fully-distributed control scheme based on a wellchosen Lyapunov function with rigorous proof of adjustable inter-event time. The proposed methods involve model-based estimation and clock-like auxiliary dynamic variables to increase the inter-event time as long as possible eventually. Compared to the static event-triggered strategy and the existing state-of-theart dynamic event-triggered mechanism, the proposed approach significantly reduces the communication frequency while still guaranteeing asymptotic convergence. Numerical simulations demonstrate the validity of the proposed theoretical results.

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Section: B Improved Dynamic Event-triggered Control With Adjustable I...mentioning

confidence: 99%

“…Replace θi by (10), we have V < 0, which means lim t→∞ ||ε i (t)|| = 0 and the MAS (1) reaches leaderfollowing consensus asymptotically.…”

Section: B Improved Dynamic Event-triggered Control With Adjustable I...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Improved Dynamic Event-Triggered Consensus Control for Multi-Agent Systems with Designable Inter-Event Time

Wang

Chadli

2023

Preprint

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“…1 However, the robot system has high nonlinearities, coupling dynamics, and modeling uncertainties, it is not tractable to achieve high-accuracy tracking control of robot manipulators. 2 To solve these problems, various robust control schemes have been proposed, including sliding mode control (SMC), [3][4][5] finite-time control (FTC), 6,7 time-delay control (TDC), 8 and neural networks control (NNC), 9,10 etc.…”

Section: Introductionmentioning

confidence: 99%

Robust prescribed performance trajectory tracking control with improved fast nonsingular terminal sliding surface of robot manipulators

Song,

Fang,

Zhang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper investigates the high-precision model-free control of robot manipulators. To this end, a model-free robust prescribed performance controller with an improved fast nonsingular terminal sliding mode surface (IFNTSM) and unknown system dynamics estimator (USDE) has been designed. An USDE method is employed to estimate model informations and further to achieve model-free control, which can avoid complex mathematical model calculation. Compared with some other model-free control methods like time-delay control (TDC) and neural-networks control (NNC), the USED does not require acceleration signal and is easy to implement. Then the prescribed performance control (PPC) has been used to limit error trajectory, which means the error can be pre-limit in a constraint band. A new transform function (TF) is designed for PPC, it has unlimited domain and can still maintain stability although tracking error will exceed PPC boundary sometimes, but the PPC with traditional TF will crash in this case. This is a great improvement for the stability of system compared with traditional TF. An improved fast nonsingular terminal sliding mode surface (IFNTSM) with a new adaptive law is proposed to accelerate convergence rate and improve steady-state accuracy on the sliding manifold. Finally, a practical finite-time controller (PFTC) has been constructed to drive sliding variable to a set centered on zero within a finite time, which means the convergence time can be calculated depending on the initial state. The transient response time can be shorten compared with traditional asymptotic stable. Abundant simulations and experimental results also verified the effectiveness of the proposed scheme.

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“…In order to address this issue, an event-triggered mechanism (ETM) was introduced, which enables a minimum rate of data sampling, communication, and control updates while still ensuring system performance. The concept of ETM for stabilizing control is first introduced in [6], then gains significant development and is applied in different dynamic systems [7], [8].…”

Section: Introductionmentioning

confidence: 99%

Distributed Observer-Based Dynamic Event-Triggered Control of Multi-Agent Systems with Adjustable Inter-Event Time

Wang,

Chadli

2023

2023 62nd IEEE Conference on Decision and Control (CDC)

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This paper proposes a dynamic event-triggered control strategy for the leader-following multi-agent control under directed topology. A synthesis approach combining distributed controllers and observers design is developed under a dynamic sampling scheme, and only local information is required for each agent to implement the proposed method.The control protocol incorporates model-based estimation and clock-like auxiliary dynamic variables to prolong the interevent time as long as possible. Sufficient conditions for leaderfollowing consensus control are established by linear matrix inequalities, and an explicit inter-event time is given to enable flexible tuning. Due to the carefully selected Lyapunov function, the proposed method exhibits significant advantages over the dynamic event-triggered control methods described in the existing literature. Compared to the existing static eventtriggered strategy, the proposed approach significantly reduces the utilization of communication resources while preserving asymptotic convergence to the state consensus. The validity and effectiveness of the proposed theoretical results are demonstrated by comparative simulations.

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Adaptive Fuzzy Event-Triggered Sliding-Mode Control for Uncertain Euler–Lagrange Systems With Performance Specifications

Cited by 9 publications

References 43 publications

Improved Dynamic Event-Triggered Consensus Control for Multi-Agent Systems with Designable Inter-Event Time

Improved Dynamic Event-Triggered Consensus Control for Multi-Agent Systems with Designable Inter-Event Time

Robust prescribed performance trajectory tracking control with improved fast nonsingular terminal sliding surface of robot manipulators

Distributed Observer-Based Dynamic Event-Triggered Control of Multi-Agent Systems with Adjustable Inter-Event Time

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