Trajectory tracking control for quadrotor unmanned aerial vehicle with input delay and disturbances

This paper presents a disturbance observer‐based controller for a class of multi‐actuator systems that possess passivity properties. By distributing the input and aggregating the output using the same vectors, the original plant is transformed into an aggregation‐and‐distribution plant (ADP), which is also passive. Based on the ADP, this paper derives the conditions for the controller to sufficiently ensure that the overall system has a finite L2‐gain. The conditions can be checked via the passivity notation of several transfer functions. It is not required to establish the overall system's dynamical equation, thereby alleviating the design burden. The additional objective can be attained by performing an optimization on the aggregation/distribution vectors. Several practical applications are introduced as motivating examples, and the effectiveness of the proposed method is demonstrated by the integration of motion control and energy management for electric vehicles.

Disturbance observer based control for passive multi‐actuator systems with aggregation and distribution

Nguyen

2024

Controllability of nonlinear stochastic impulsive switched systems in Hilbert spaces

Ansari,

Malik

2024

In this paper, nonlinear first order stochastic switched control systems with non‐instantaneous impulses (NIIs) in infinite‐dimensional spaces are considered. Semigroup theory of linear operators and a fixed‐point approach are used to develop the main results. First, we present the mild solution for the proposed system. Then, we derive sufficient conditions to ensure the total controllability and trajectory controllability results. Further, to validate the study, we provide examples.

Composite fault reconstruction and tracking control model for interval type‐2 fuzzy‐based cyber‐physical systems: The sliding mode observer method

Anusuya,

Sakthivel,

Ren

et al. 2024

This study formulates the unified fault reconstruction and fault‐tolerant tracking (FTT) control framework for the cyber‐physical (C‐P) systems subject to time‐varying actuator faults, nonlinearity, and deception attacks. Primarily, the interval type‐2 fuzzy (IT2‐F) process efficiently approximates the nonlinear C‐P systems. Further, the unknown actuator faults are proficiently reconstructed through IT2‐F‐based sliding mode (SM) observer technique. Then, the active FTT control strategy is utilized in this work to stabilize the tracking error system. Precisely, the reference system is designated by means of IT2‐F approach. To represent the deception attacks, the Bernoulli random variable is employed in the planned controller. In a nutshell, the proposed SM observer‐based FTT control assures satisfactory tracking outcomes of the examined systems notwithstanding the presence of deception attacks and unknown actuator faults. As well, the Lyapunov stability concept is applied in this study to acquire the stability conditions in the form of linear matrix inequalities. Following this, the two numerical simulations are illustrated to exemplify the conceptual as well as the practical importance of the proposed method.