Observer-based robust model predictive control of switched nonlinear systems with time delay and parametric uncertainties

Taghieh, Amin; Shafiei, Mohammad Hossein

doi:10.1177/1077546320950523

Cited by 25 publications

(17 citation statements)

References 33 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…By referring to the literature, one may find that most of the observers rely on the system dynamics which leads to intricacy and complexity in the design procedure (Fetzer et al, 2020;Saleki and Fateh, 2020). To deal with the aforesaid problem, the HGO has been used in many control applications because of its simplicity along with its independency from the system dynamics and its dependence on available outputs of the plant (Behtash, 1990: Du et al, 2015Ge et al, 2001;Tee et al, 2008). To continue, consider the following linear system…”

Section: Hgomentioning

confidence: 99%

“…Because some states of the system are not available for measurement such as velocities and accelerations, observers (Asadi et al, 2020; Elhaki and Shojaei, 2020a, 2020b; Li et al, 2020; Ranjbar et al, 2020; Taghieh and Shafiei, 2020; Wang et al, 2020) are reasonable candidates to compensate for the lack of velocity or acceleration sensors. By referring to the literature, one may find that most of the observers rely on the system dynamics which leads to intricacy and complexity in the design procedure (Fetzer et al, 2020; Saleki and Fateh, 2020).…”

Section: Preliminariesmentioning

confidence: 99%

See 1 more Smart Citation

Observer-based robust platoon formation control of electrically driven car-like mobile robots under collision avoidance and connectivity maintenance with a prescribed performance

Elhaki

Shojaei

2021

Journal of Vibration and Control

View full text Add to dashboard Cite

This study intends to address the platoon formation control problem of a team of N electrically driven underactuated autonomous car-like mobile robots. A platoon controller is proposed by using the relative distance and angle between each two successive robots in the platoon. A high-gain observer is also used to leave out velocity sensors to reduce the cost of the implementation/maintenance and the weight of the robots. Then, the dynamic surface control method is used to prevent complexity of the controller design. Next, by utilizing the prescribed performance bound method, predetermined desired transient and steady-state behavior of the tracking formation errors, robots connectivity preservation, and their collision avoidance are guaranteed as well as singularity avoidance. Adaptive neural networks and adaptive robust controllers are used to improve the tracking performance in the presence of parametric and nonparametric uncertainties, unmodeled dynamics, actuator saturation nonlinearity, and unwanted external disturbances including exogenous forces and torques, friction, and vibration. The Lyapunov direct method proves that all signals of the closed-loop control system are uniformly ultimately bounded. Finally, simulation results are demonstrated to show the superiority of the proposed convoy tracking system.

show abstract

Section: Hgomentioning

confidence: 99%

Section: Preliminariesmentioning

confidence: 99%

Observer-based robust platoon formation control of electrically driven car-like mobile robots under collision avoidance and connectivity maintenance with a prescribed performance

Elhaki

Shojaei

2021

Journal of Vibration and Control

View full text Add to dashboard Cite

show abstract

“…The MPC scheme has also been extended to delay switched systems in recent years. A robust MPC scheme and a robust observerbased MPC scheme were introduced for discrete-time Lipschitz nonlinear switched systems with unknown state delay based on arbitrary switching signal and switched Lyapunov-Krasovskii functions (SLKF), respectively [27,28]. The cost function with the infinite predictive horizon and input constraint was formulated as an optimization problem in the framework of LMI.…”

Section: Introductionmentioning

confidence: 99%

Robust H∞ based model predictive control for Lipschitz nonlinear switched systems under asynchronous switching

Rahdan

Abedi

2022

Preprint

View full text Add to dashboard Cite

This paper proposes an asynchronous robust H∞ model predictive control scheme for discretetime Lipschitz nonlinear switched systems. It is assumed that there exist some mismatches between the switching of the subsystems and the controllers. For this purpose, two different types of cost functions have to be minimized, including the cost function with the finite horizon in the mismatched intervals and with the infinite horizon in the matched intervals. The control scheme is developed based on the multiple Lyapunov functions and persistent dwell time switching signal to ensure the H∞ performance. Therefore, conservative aspects of the other model predictive methods developed based on the common Lyapunov function and arbitrary switching signals are treated. Due to the online framework of the suggested strategy, fewer constraints have to be resolved simultaneously. So, there will be fewer feasibility problems and unexpected variations issues compared to offline methods, which are widely used in the literature of switched systems. The non-convex control scheme is formulated as an optimization problem in the framework of linear matrix inequality, as well as the optimal values of some parameters are obtained. Finally, a numerical example is developed, and the performance of the proposed scheme is evaluated.

show abstract

“…Since the delay phenomenon strikes the system's performance and engenders instability, an appropriate DSE and distributed controller should be applied to the MASs. Lyapunov-Krasovskii functional (LKF) as a useful tool is utilized to investigate the stability of time-delayed systems in [30][31][32][33][34]. LF consensus problem of time-delay double integrator systems under switching interconnection graphs has been investigated in [35].…”

Section: Introductionmentioning

confidence: 99%

H∞-based control of multi-agent systems: Time-delayed signals, unknown leader states and switching graph topologies

et al. 2022

View full text Add to dashboard Cite

The paper investigates a leader-following scheme for nonlinear multi-agent systems (MASs). The network of agents involves time-delay, unknown leader’s states, external perturbations, and switching graph topologies. Two distributed protocols including a consensus protocol and an observer are utilized to reconstruct the unavailable states of the leader in a network of agents. The H∞-based stability conditions for estimation and consensus problems are obtained in the framework of linear-matrix inequalities (LMIs) and the Lyapunov-Krasovskii approach. It is ensured that each agent achieves the leader-following agreement asymptotically. Moreover, the robustness of the control policy concerning a gain perturbation is guaranteed. Simulation results are performed to assess the suggested schemes. It is shown that the suggested approach gives a remarkable accuracy in the consensus problem and leader’s states estimation in the presence of time-varying gain perturbations, time-delay, switching topology and disturbances. The H∞ and LMIs conditions are well satisfied and the error trajectories are well converged to the origin.

show abstract

Observer-based robust model predictive control of switched nonlinear systems with time delay and parametric uncertainties

Cited by 25 publications

References 33 publications

Observer-based robust platoon formation control of electrically driven car-like mobile robots under collision avoidance and connectivity maintenance with a prescribed performance

Observer-based robust platoon formation control of electrically driven car-like mobile robots under collision avoidance and connectivity maintenance with a prescribed performance

Robust H∞ based model predictive control for Lipschitz nonlinear switched systems under asynchronous switching

H∞-based control of multi-agent systems: Time-delayed signals, unknown leader states and switching graph topologies

Contact Info

Product

Resources

About