Control of Constrained Linear-Time Varying Systems via Kautz Parametrization of Model Predictive Control Scheme

Ettefagh, Massoud Hemmasian; Doná, José A. De; Naraghi, Mohammad; Towhidkhah, Farzad

doi:10.28991/esj-2017-01117

Cited by 3 publications

(1 citation statement)

References 16 publications

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“…The system can track the reference trajectory precisely and with a high robustness to parametric uncertainty. In Ettefagh et al (2017), a novel Lyapunov function has been defined to ensure asymptotic stability of the linear time-varying system. In (Berdnikov and Lokhin 2019), the system asymptotic stability has been ensured using new spline Lyapunov functions instead of classical quadratic Lyapunov functions which provide bigger stability regions.…”

Section: Introductionmentioning

confidence: 99%

Chattering-Free Trajectory Tracking Robust Predefined-Time Sliding Mode Control for a Remotely Operated Vehicle

Hosseinabadi

Abadi

Mekhilef

et al. 2020

J Control Autom Electr Syst

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This study investigates a new chattering-free robust predefined-time sliding mode control (CFRPSMC) scheme for the trajectory tracking control problem of a three-degree-of-freedom (3-DOF) remotely operated vehicle (ROV) in the presence of matched uncertainties. The advanced notion of predefined-time stability is used to provide a maximum convergence time as desired that can be set during the control design and independently of the initial conditions. Based on defining a new form of sliding surfaces, a new control law is designed to ease the undesirable chattering phenomenon without damaging the robustness properties and tracking precision. The proposed control scheme can not only solve the predefined-time tracking controller design problem, but also provide the robustness to various uncertainties. The Lyapunov stability theory is used to establish the stability analysis of the closed-loop system in both the reaching phase and the sliding phase. The performance of the proposed CFRPSMC scheme is evaluated for the 3-DOF ROV through two comparative simulation cases using Simulink/MATLAB. The comparative simulation results and analytical comparisons demonstrate the efficacy and superiority of the proposed method compared with other relevant conventional methods.

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Section: Introductionmentioning

confidence: 99%

Chattering-Free Trajectory Tracking Robust Predefined-Time Sliding Mode Control for a Remotely Operated Vehicle

Hosseinabadi

Abadi

Mekhilef

et al. 2020

J Control Autom Electr Syst

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An SOS Observer-Based Sensorless Control for PMLSM Drive System

Ting

Chang

Chiu

2020

J Control Autom Electr Syst

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Intelligent agent for formal modelling of temporal multi-agent systems

Qasim

Aziz

Kazmi

et al. 2020

International Journal on Smart Sensing and Intelligent Systems

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Software systems are becoming complex and dynamic with the passage of time, and to provide better fault tolerance and resource management they need to have the ability of self-adaptation. Multiagent systems paradigm is an active area of research for modeling real-time systems. In this research, we have proposed a new agent named SA-ARTIS-agent, which is designed to work in hard real-time temporal constraints with the ability of self-adaptation. This agent can be used for the formal modeling of any self-adaptive real-time multiagent system. Our agent integrates the MAPE-K feedback loop with ARTIS agent for the provision of self-adaptation. For an unambiguous description, we formally specify our SA-ARTIS-agent using Time-Communicating Object-Z (TCOZ) language. The objective of this research is to provide an intelligent agent with self-adaptive abilities for the execution of tasks with temporal constraints. Previous works in this domain have used Z language which is not expressive to model the distributed communication process of agents. The novelty of our work is that we specified the non-terminating behavior of agents using active class concept of TCOZ and expressed the distributed communication among agents. For communication between active entities, channel communication mechanism of TCOZ is utilized. We demonstrate the effectiveness of the proposed agent using a realtime case study of traffic monitoring system.

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Control of Constrained Linear-Time Varying Systems via Kautz Parametrization of Model Predictive Control Scheme

Cited by 3 publications

References 16 publications

Chattering-Free Trajectory Tracking Robust Predefined-Time Sliding Mode Control for a Remotely Operated Vehicle

Chattering-Free Trajectory Tracking Robust Predefined-Time Sliding Mode Control for a Remotely Operated Vehicle

An SOS Observer-Based Sensorless Control for PMLSM Drive System

Intelligent agent for formal modelling of temporal multi-agent systems

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