ABSTRACT
In a Networked Control System (NCS), event-triggering is often used to reduce the number of network transmission instances and improve network usage. This paper considers transmitting output data rather than the estimated state for such event-triggered schemes. Output transmission facilitates efficient transmission by reducing the size of the packets sent over the network. However, since the state observer utilizes delayed information output transmission deteriorates system performance and requires improved observer-based prediction schemes for closed-loop control. The performance of a new scheme involving the transmission of sequential output information in a single packet to improve the state observer's performance is demonstrated in this paper. A sequential observer is constructed that uses successive output information to better observe the states, and a prediction scheme is used to take care of the delays due to event-triggering, network delays, and dropouts. Further, event-triggering is employed in both the feedback and forward channels. The demonstrated efficacy of this sequential approach in the networked control of an inverted pendulum system and a DC motor system emphasizes its potential as a practical solution for improved control in NCSs, particularly in the face of network constraints and communication challenges.
ABSTRACT
This paper deals with the predefined-time synchronization for a class of nonlinear multi-agent systems. The notion of passivity is exploited to design the controller for predefined-time synchronization of a nonlinear multi-agent system, where the time of synchronization can be preassigned. Developed control can be used to synchronize large-scale, higher-order multi-agent systems as passivity is an important property in designing control for complex control systems, where the control inputs and outputs are considered in determining the stability of the system in contrast to other approaches, such as state-based Control We introduced the notion of predefined-time passivity and as an application of the exposed stability analysis, static and adaptive predefined-time control algorithms are designed to study the average consensus problem for nonlinear leaderless multiagent systems in predefined-time. We provide a detailed mathematical analysis of the proposed protocol, including convergence proof and stability analysis. We discussed the tracking problem for a single agent, and designed state feedback and adaptive state feedback control scheme to make tracking error predefined-time passive and then showed that in the absence of external input, tracking error reduces to zero in predefined-time. Furthermore, we extended this concept for a nonlinear multi-agent system and designed state feedback and adaptive state feedback control scheme which ensure synchronization of all the agents in predefined-time. To further strengthen the idea, we applied our control scheme to a nonlinear multi-agent system by taking the example of Chua's circuit. Finally, we compared the result of our developed predefined-time synchronization framework with finite-time synchronization scheme available in literature for the Kuramoto model.
ABSTRACT
In this article, the free-will arbitrary time consensus is formulated for multiagent systems. This consensus protocol is independent of initial conditions and any other system parameters. With such a protocol, the multiagent system is shown to attain consensus as well as average consensus within the prespecified arbitrary time. Agents rendezvous can also be accomplished with the given protocol. Communication imperfections are easily handled with the designed protocol. Robust free-will arbitrary time consensus protocol is also designed. The stability of such nonlinear nonautonomous protocols is established using suitable Lyapunov functions. Simulation examples confirm the theoretical findings.
ABSTRACT
A new approach for asymptotic stabilization of a general input-affine nonlinear system is presented. This relies upon the results of Matrosov's theorem to decompose the nth dimensional space. The construction of the [K,KL] sector for a nonlinear system is done with the suitable choice of control-Lyapunov function. The study of a nonlinear system is viewed from the perspective of comparison function for uniformity in solution. By means of designed sector, we design a switching controller which is well suited in the condition that shows its presence only outside of [K,KL] sector. Thus, it yields a stabilization scheme which saves the superfluous control termed as Lazy or Hands-Off control. Finally, we demonstrate the proposed approach which yields an asymptotically stable results for the simulation of an illustrative example.
ABSTRACT
This paper studies the formation of multiple mobile agents with double integrator dynamics and their target tracking. An algorithm consisting of an observer and a feedback control law of the nonsmooth type is proposed for the purpose of achieving finite-time formation and target tracking. The development is based on the Multi-input Multi-output (MIMO) super-twisting like approach aiming at finite time convergence without chattering. In addition to the formation; tracking, chattering prevention and robustness is also provided by the sliding mode mechanism which is demonstrated by simulations.
ABSTRACT
This study proposes a multilayer hybrid deep-learning system (MHS) to automatically sort waste disposed of by individuals in the urban public area. This system deploys a high-resolution camera to capture waste image and sensors to detect other useful feature information. The MHS uses a CNN-based algorithm to extract image features and a multilayer perceptrons (MLP) method to consolidate image features and other feature information to classify wastes as recyclable or the others. The MHS is trained and validated against the manually labelled items, achieving overall classification accuracy higher than 90% under two different testing scenarios, which significantly outperforms a reference CNN-based method relying on image-only inputs.