Trajectory Tracking of Variable Centroid Objects Based on Fusion of Vision and Force Perception

Gao, Huijun; An, Hao; Lin, Weiyang; Yu, Xinghu; Qiu, Jianbin

doi:10.1109/tcyb.2023.3240502

Cited by 34 publications

(7 citation statements)

References 41 publications

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“…The cooperative control schemes for multiagent systems (MASs) [1][2][3][4][5][6][7][8][9][10][11][12] have been broadly discussed over the past few years. To achieve the consensus control objective between [20] investigated the asymptotic tracking control issue for nonlinear time-delay systems.…”

Section: Introductionmentioning

confidence: 99%

A Novel Communication Time-Delay Cooperative Control Method with Switching Event-Triggered Strategy

Li,

Cao,

Pan

et al. 2024

J Intell Robot Syst

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A novel communication time-delay classification-based method is designed for nonlinear multiagent systems with the finite-time prescribed performance function. The time-delay phenomenon for communication channels between agents is discussed. Then, an improved time-delay classification method is proposed to broaden the standard of classification mechanism by considering the degree of deviation and relative variation of neighbor agents, rather than classifying the delay time into large time-delay and small time-delay. Based on this, the unified Lyapunov-Krasovskii functional and the finite-time performance function are used to solve the large time-delay phenomenon and ensure that the error is within the preset boundary, respectively. Furthermore, a modified switching event-triggered strategy is put forward to reduce the transmission burden, which considers the impact of tracking error to adjust the threshold condition in real-time. Additionally, all signals of the closed-loop systems are bounded. Eventually, two simulation examples verify the validity of the control strategy.

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Section: Introductionmentioning

confidence: 99%

A Novel Communication Time-Delay Cooperative Control Method with Switching Event-Triggered Strategy

Li,

Cao,

Pan

et al. 2024

J Intell Robot Syst

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show abstract

“…Significant advancements were accomplished in the domain of intelligent control. [14][15][16][17][18][19][20][21][22] For instance, researchers in Reference 23 proposed a strategy to tackle the issue of strict-feedback nonlinear systems (SFNSs) containing unidentified control coefficients and unmeasurable states by integrating backstepping technique and NNs.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, the approach of combining adaptive backstepping control with fuzzy logic systems (FLSs) or neural networks (NNs) has been proposed to handle the uncertainties. Significant advancements were accomplished in the domain of intelligent control 14‐22 . For instance, researchers in Reference 23 proposed a strategy to tackle the issue of strict‐feedback nonlinear systems (SFNSs) containing unidentified control coefficients and unmeasurable states by integrating backstepping technique and NNs.…”

Section: Introductionmentioning

confidence: 99%

Reinforcement learning‐based adaptive predefined‐time optimal tracking control for strict‐feedback nonlinear systems

Chen,

Pan,

2023

Adaptive Control & Signal

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SummaryIn this paper, an adaptive predefined‐time optimal tracking control method is presented for a class of strict‐feedback nonlinear systems. Different from the existing optimal control results, these reinforcement learning methods only ensure the system is semiglobally uniformly ultimately bounded or finite‐time stable, which cannot achieve the precise control of the convergence time and accuracy. The designed predefined‐time optimal control strategy can guarantee that the convergence time and error accuracy can be predefined by users, while optimizing the performance index function by constructing the identifier‐actor‐critic neural networks. Meanwhile, an improved piecewise continuous function is devised to solve the problem of containing the sign function in the controller under the predefined‐time stability framework, which can both decrease the chattering phenomenon and avoid the possible singularity problem. Moreover, it can be demonstrated that all signals within the closed‐loop systems are predefined‐time stable. Finally, some simulation results confirm the effectiveness of the proposed control strategy.

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“…During recent years, the related issues of nonlinear networked control systems (NCSs) have received widespread attention from scholars [1][2][3][4][5] with the development of some intelligent control technologies. [6][7][8][9][10][11][12][13][14][15][16][17] With the development of NCSs, nonlinear terms inevitably appear in the control system. The Takagi-Sugeno (T-S) fuzzy model, as a mathematical technique for linearizing nonlinear systems, has been proven to be effective in characterizing and describing the nonlinear NCSs.…”

Section: Introductionmentioning

confidence: 99%

“…During recent years, the related issues of nonlinear networked control systems (NCSs) have received widespread attention from scholars 1‐5 with the development of some intelligent control technologies 6‐17 . With the development of NCSs, nonlinear terms inevitably appear in the control system.…”

Section: Introductionmentioning

confidence: 99%

Observer‐based event‐triggered security control for nonlinear networked control systems with cyber attacks

Huang,

Pan,

2023

Intl J Robust & Nonlinear

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SummaryThis paper investigates the observer‐based security control problem for interval type‐2 nonlinear networked control systems with deception attacks and replay attacks. Firstly, to alleviate the communication burden of the network, a novel adaptive event‐triggered communication (ETC) mechanism is proposed. Compared with existing observer‐based adaptive ETC security control techniques, the threshold of the proposed adaptive ETC scheme can be adjusted dynamically depending on the value of adjustable parameters and estimation error. In particular, the adjustable parameters can change the sensitivity of the threshold flexibly. Then, taking the influence of the adaptive ETC mechanism and cyber attacks into consideration, an observer‐based security controller is developed under the co‐designed method. Furthermore, by utilizing the Lyapunov stability theory, sufficient conditions for asymptotically mean‐square stable of the closed‐loop system are obtained. Ultimately, the feasibility of the designed control approach can be proved via a simulation example.

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Trajectory Tracking of Variable Centroid Objects Based on Fusion of Vision and Force Perception

Cited by 34 publications

References 41 publications

A Novel Communication Time-Delay Cooperative Control Method with Switching Event-Triggered Strategy

A Novel Communication Time-Delay Cooperative Control Method with Switching Event-Triggered Strategy

Reinforcement learning‐based adaptive predefined‐time optimal tracking control for strict‐feedback nonlinear systems

Observer‐based event‐triggered security control for nonlinear networked control systems with cyber attacks

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