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Robust self-triggered switching control of autonomous ground vehicles with varying linear parameters 认领 引用
1
作者 Yuanlong XIE Shuting WANG +3 位作者 Liquan JIANG Hu LI Hao WU Sheng-quan XIE 《Journal of Zhejiang University-SCIENCE A》 SCIE EI CAS CSCD 2026年第5期453-465,I0001-I0007,共13页
We propose a robust self-triggered switching control scheme for four-wheel-steering autonomous ground vehicles(FAGVs)to enhance tracking precision in the face of significant parameter variations.First,using the polyto... We propose a robust self-triggered switching control scheme for four-wheel-steering autonomous ground vehicles(FAGVs)to enhance tracking precision in the face of significant parameter variations.First,using the polytopic mechanism,the nonlinear dynamics of an FAGV are formulated as a switched linear parameter-varying system to accommodate parametric perturbations.With suitable dwell time,a novel self-triggered switching law is designed using energy density in terms of the tracking accuracy and system robustness;this satisfies the required control criteria while also preventing the Zeno phenomenon caused by traditional high-frequency switching.Through the application of multiple parameter-correlated Lyapunov functions,the resultant closed-loop system is ensured to be asymptotically stable with suitable auto-tuned gains.Finally,the efficacy and superiority of the proposed method are verified through experiments with an FAGV system. 展开更多
关键词 Varying linear parameters Autonomous ground vehicle Switching controller Zeno avoidance Robust control
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A Novel Segment-switching Strategy with the Current Transient Overshoot Suppression for Segmented Long-stator Linear Motor 认领 引用
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作者 Yanfei Li Zixin Li +4 位作者 Hang Zhang Fei Xu Cong Zhao Fanqiang Gao Yaohua Li 《CES Transactions on Electrical Machines and Systems》 EI CSCD 2026年第2期188-203,共16页
The segmented power supply scheme for long-stator linear motor facilitates reducing power capacity and achieving a high power factor.However,the segment-switching process leads to overcurrent under high-speed conditio... The segmented power supply scheme for long-stator linear motor facilitates reducing power capacity and achieving a high power factor.However,the segment-switching process leads to overcurrent under high-speed conditions.This paper proposes a novel segment-switching strategy based on the time-optimal control theory.It employs time-optimal feedforward voltage and planned current trajectory during the switching transient process.Thus,it ensures rapid disconnection of the exiting segment and rapid establishment of the current in the incoming segment,while suppressing transient current overshoot.The mathematical model of the long-stator linear motor is established in the process of segment-switching.It derives the minimum times required to force the exiting segment current to zero and to establish the incoming segment current to the reference value by time-optimal control theory.Furthermore,the time-optimal voltages and current trajectories are calculated.The timeoptimal current trajectories are used as the reference command for the current loop.The time-optimal feedforward voltages are introduced into the current loop control.Hence,it achieves rapid disconnection of the exiting segment and fast,accurate establishment of the incoming segment current.Experimental and simulation results collectively validate the effectiveness of the proposed segment-switching strategy. 展开更多
关键词 Long-stator linear motor Segmented power supply Segment switching Longitudinal static end-effect Timeoptimal control
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New Controllability Criteria for Linear Switched and Impulsive Systems 认领 引用
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作者 Jiayuan Yan Bin Hu +2 位作者 Zhi-Hong Guan Yandong Hou Lei Shi 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2025年第4期830-832,共3页
Dear Editor,In this letter,several novel controllability results for a class of linear switched and impulsive systems are established.Different from the developed controllability conditions in most existing literature... Dear Editor,In this letter,several novel controllability results for a class of linear switched and impulsive systems are established.Different from the developed controllability conditions in most existing literature,the important role of switched and impulsive time sequence is considered.Applying the relevant geometric theory of matrix,a necessary and sufficient criterion for the controllability is firstly developed to judge when the controllability of such systems is affected by switched and impulsive time sequence.Furthermore,we further obtain a sufficient controllability condition that can be used to verify the controllability of such systems regardless of the switched and impulsive time sequence.Finally,a numerical example is given to verify the obtained theoretical results. 展开更多
关键词 switched systems controllability linear switched impulsive systems switched impulsive time sequence impulsive systems linear systems developed controllability conditions switched impulsive time
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Leader-following positive consensus of heterogeneous switched multi-agent systems with average dwell time switching 认领 引用
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作者 Kaiming Li Wei Xing +1 位作者 Haoyue Yang Junfeng Zhang 《Control Theory and Technology》 EI CSCD 2026年第1期66-81,共16页
This paper focuses on the leader-following positive consensus problems of heterogeneous switched multi-agent systems.First,a state-feedback controller with dynamic compensation is introduced to achieve positive consen... This paper focuses on the leader-following positive consensus problems of heterogeneous switched multi-agent systems.First,a state-feedback controller with dynamic compensation is introduced to achieve positive consensus under average dwell time switching.Then sufficient conditions are derived to guarantee the positive consensus.The gain matrices of the control protocol are described using a matrix decomposition approach and the corresponding computational complexity is reduced by resorting to linear programming and co-positive Lyapunov functions.Finally,two numerical examples are provided to illustrate the results obtained. 展开更多
关键词 Heterogeneous switched multi-agent systems Positive consensus Linear programming
Stability,Control and Fault Diagnosis of Switched Linear Parameter Varying Systems:A Survey 认领 引用 被引量：1
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作者 Yanzheng Zhu Junxing Che +3 位作者 Fen Wu Xinkai Chen Weixing Zheng Donghua Zhou 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2025年第9期1745-1761,共17页
Switched linear parameter varying(LPV)systems have,in recent years,inspired a great number of research endeavors owing to their excellent ability to approximate nonlinear systems and handle complex hybrid dynamics in ... Switched linear parameter varying(LPV)systems have,in recent years,inspired a great number of research endeavors owing to their excellent ability to approximate nonlinear systems and handle complex hybrid dynamics in system analysis and synthesis.Nevertheless,numerous difficulties and challenges are also encountered due to the reciprocal effects of switching signals and scheduling parameters in the analysis and synthesis of switched LPV systems.In this paper,the standard description and specific characteristics of switched LPV systems are first introduced.Then,the main methodologies are proposed in the literature to cope with stability and performance analysis,control synthesis,as well as fault diagnosis and fault-tolerant control issues,and the typical applications in various fields are surveyed.Finally,several key open problems and current research activities are also discussed to elucidate the potential research directions in the future. 展开更多
关键词 Control synthesis fault diagnosis Lyapunov method stability switched linear parameter varying(LPV)systems switching LPV control
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On the exponential stability and instability analyses of switched second-and higher-order linear systems via a novel application of differential inequalities:part 1(theory) 认领 引用
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作者 Y.V.Venkatesh 《Control Theory and Technology》 EI CSCD 2025年第4期702-720,共19页
Differential inequalities generated in an extended Lyapunov framework are employed in the stability and instability analyses of a class of switched continuous-time second-and higher order linear systems with an arbitr... Differential inequalities generated in an extended Lyapunov framework are employed in the stability and instability analyses of a class of switched continuous-time second-and higher order linear systems with an arbitrary number of switching matrices.The exponential stability and instability(ESI)conditions so obtained involve the supremum and infimum of ratios of certain quadratic forms of the matrices,leading to global time-averages of their activity intervals.Further,motivated by linear switching system examples of(i)instability with stable matrices and(ii)stability with unstable matrices(found in the literature primarily for second-order systems),the proposed framework is generalized to establish ESI conditions that include both the activity intervals of the matrices and their switching rates,the latter being governed by a certain logarithmic measure of the normalized magnitudes of discontinuities caused by switching.In effect,(the new,globally averaged)dwell-time is flexibly traded,apparently for the first time,but under specific conditions(related,in part,to the eigenvalues of the matrices),for switching discontinuity-based conditions.Two further novel aspects of the proposed approach are:(i)For second-order matrices,switching lines in phase space can be chosen for periodic switching to stabilize or destabilize the system,and even generate oscillations,depending on the eigenvalues of the system matrices.But for third-(and higher)order matrices,such an analytically tractable(and controlled)periodical switching entails solution of an explicit non-convex multi-parameter optimization problem for which a stochastic optimization algorithm from the literature can be invoked.(ii)Lower and upper bounds on the solutions of the system equations can be quantified to reflect the stability/instability/oscillatory property of the system.Illustrative examples,which demonstrate the novelty of the derived stability and instability conditions,are presented in part 2 which is advisedly to be read along with this part 1 for a coherent merging of theory with practice. 展开更多
关键词 Differential inequalities Dwell time Exponential stability and instability Quadratic Lyapunov functions Switched linear second-and higher order systems
On the exponential stability and instability analyses of switched second- and higher-order linear systems via a novel application of differential inequalities: part 2 (Illustrations) 认领 引用
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作者 Y.V.Venkatesh 《Control Theory and Technology》 EI CSCD 2025年第4期721-749,共29页
In this second part of the paper,bearing the same title as above,but with the last hyphenated phrase replaced by part 1(Theory),the exponential stability and instability(ESI)Theorems 1–4 of part 1 are illustrated by ... In this second part of the paper,bearing the same title as above,but with the last hyphenated phrase replaced by part 1(Theory),the exponential stability and instability(ESI)Theorems 1–4 of part 1 are illustrated by applying them to second-andby,say,third-order linear switched systems with different eigenvalue structures to demonstrate the versatility,novelty and superiority(over many of the results found in the literature,especially for second-order switched lined systems)of the new theoretical results.The computational procedure that is employed with reference to the third-order systems is generic,in the sense that it is applicable to higher(i.e.,greater than third-)order linear switched systems.A pseudo-code for a computer implementation of the stability/instability conditions is also presented.With the principal aim of facilitating an independent reading of this part 2 of the paper,some crucial mathematical notations,definitions and results of part 1 have been repeated,thereby making the contents as self-contained as possible. 展开更多
关键词 Differential inequalities Dwell time Exponential stability and instability Quadratic Lyapunov functions Switched linear second-and third-(and higher)order systems
Robust fault estimation for uncertain switched linear systems with time-varying delay 认领 引用 被引量：2
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作者 钟燕科 陈特放 陈春阳 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第11期4254-4262,共9页
The problem of fault estimation is investigated for a class of uncertain switched systems with time-varying delay. A robust observer-based fault estimator is designed such that the augment error system is exponentiall... The problem of fault estimation is investigated for a class of uncertain switched systems with time-varying delay. A robust observer-based fault estimator is designed such that the augment error system is exponentially stable and the H∞ performance index meets the predefined requirements. Based on the multiple Lyapunov-Krasovskii functions and the average dwell-time method, the delay dependent sufficient conditions on the existence of desired fault estimator are established. However, since these conditions are not linear matrix inequalities(LMIS), they can not be solved by MATLAB. By using a novel method, these conditions are presented in terms of LMIS. Finally, a numerical example is carried out. The designed fault estimator could tract the fault signal timely. Besides, the error between estimation and fault is very small. Therefore, the validity of the obtained results is illustrated. 展开更多
关键词 fault estimation switched linear system time-varyi
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Delay-dependent stability and stabilization of a class of linear switched time-varying delay systems 认领 引用 被引量：5
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作者 Zhang Lixian Wang Changhong Gao Huijun 《Journal of Systems Engineering and Electronics》 SCIE EI 2007年第2期320-326,共7页
The stability and stabilization of a class of linear switched time-varying delay systems are investigated.A piecewise quadratic Lyapunov function(PWQLF)is constructed and is used to obtain the stability conditions bas... The stability and stabilization of a class of linear switched time-varying delay systems are investigated.A piecewise quadratic Lyapunov function(PWQLF)is constructed and is used to obtain the stability conditions based on the linear matrix inequalities(LMIs).The stabilizing controller for this class of system is then designed and the solution of the desired controller can be obtained by a cone complementary linearization algorithm.Numerical examples are provided to illustrate the less conservativeness of the new stability and the validity of the controller design procedures. 展开更多
关键词 Linear switched systems Time-varying delay Delay-dependent stability Stabilization LMIs.
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Robust H_∞ output feedback controller design for linear uncertain discrete-time switched systems via state reset 认领 引用 被引量：1
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作者 赵旭东 凌明祥 +1 位作者 曾庆双 杜晶晶 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2010年第3期328-332,共5页
This paper studies the problem of robust H∞ output feedback controller via state-reset for linear uncertain discrete-time switched systems. Using multiple Lyapunov functions,we address an output feedback controller u... This paper studies the problem of robust H∞ output feedback controller via state-reset for linear uncertain discrete-time switched systems. Using multiple Lyapunov functions,we address an output feedback controller under arbitrary switching signals,in which an H∞ performance is required. The condition is shown in the form of linear matrix inequalities (LMI). Finally,a numerical example shows the feasibility of the designed controller and illustrates that the new sufficient condition has lower conservation and more optimized H∞ tfperformance. 展开更多
关键词 linear discrete-time switched systems state-reset H∞ performance low conversation multiple Lvaounov functions
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Four-quadrant Force Control with Minimal Ripple for Linear Switched Reluctance Machines 认领 引用 被引量：4
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作者 Xuanrui Huang Zechuan Lin Xi Xiao 《CES Transactions on Electrical Machines and Systems》 CSCD 2020年第1期27-34,共8页
Linear switch reluctance machine(LSRM)has been tried to act as an alternative generator for direct drive linear wave energy converter(WEC).Many researchers have proposed new topologies of LSRM to improve the power den... Linear switch reluctance machine(LSRM)has been tried to act as an alternative generator for direct drive linear wave energy converter(WEC).Many researchers have proposed new topologies of LSRM to improve the power density,efficiency and reliability.However,the control methods for LSRM applied in direct drive WEC have been paid little attention,especially control methods considering the wave energy generator operating characteristics.In this paper,according to the generator control requirements of the direct drive WEC,force control algorithm for LSRM operating in four quadrants without a speed closed loop is put forward.The force ripple of LSRM is suppressed using force sharing function method.The four-quadrant control is easy to realize requiring only phase currents information.Simulation results validate the proposed method and indicate that LSRM is able to be used as the generator for direct drive WEC. 展开更多
关键词 Linear switched reluctance machine direct drive wave energy converter force ripple suppression four-quadrant operation.
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Critical dwell time of switched linear systems 认领 引用 被引量：3
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作者 Lijun ZHANG Chunwen LI 《控制理论与应用（英文版）》 2006年第4期402-408,共7页
In this paper, we consider the relation between the switching dwell time and the stabilization of switched linear control systems. First of all, a concept of critical dwell time is given for switched linear systems wi... In this paper, we consider the relation between the switching dwell time and the stabilization of switched linear control systems. First of all, a concept of critical dwell time is given for switched linear systems without control inputs, and the critical dwell time is taken as an arbitrary given positive constant for a switched linear control systems with controllable switching models. Secondly, when a switched linear system has many stabilizable switching models, the problem of stabilization of the overall system is considered. An on-line feedback control is designed such that the overall system is asymptotically stabilizable under switching laws which depend only on those of uncontrollable subsystems of the switching models. Finally, when a switched system is partially controllable （While some switching models are probably unstabilizable）, an on-line feedback control and a cyclic switching strategy are designed such that the overall system is asymptotically stabilizable if all switching models of this uncontrollable subsystems are asymptotically stable. In addition, algorithms for designing switching laws and controls are presented. 展开更多
关键词 Switched linear systems Switching law Critical dwell time Stabilization
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Stability and Stabilization of Block-cascading Switched Linear Systems 认领 引用 被引量：3
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作者 Ya-Hong Zhu Dai-Zhang Cheng 《International Journal of Automation and computing》 2006年第4期404-413,共10页
The main purpose of this paper is to investigate the problem of quadratic stability and stabilization in switched linear systems using reducible Lie algebra. First, we investigate the structure of all real invariant s... The main purpose of this paper is to investigate the problem of quadratic stability and stabilization in switched linear systems using reducible Lie algebra. First, we investigate the structure of all real invariant subspaces for a given linear system. The result is then used to provide a comparable cascading form for switching models. Using the common cascading form, a common quadratic Lyapunov function is （QLFs） is explored by finding common QLFs of diagonal blocks. In addition, a cascading Quaker Lemma is proved. Combining it with stability results, the problem of feedback stabilization for a class of switched linear systems is solved. 展开更多
关键词 Switching linear system quadratic stability common quadratic Lyapunov function reducible Lie algebra,cascading Quaker Lemma
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State observers of quasi-reversible discrete-time switched linear systems 认领 引用
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作者 Zhendong Sun Qiang Zhang 《Control Theory and Technology》 EI CSCD 2023年第3期390-396,共7页
This work addresses observer design for the general class of quasi-reversible discrete-time switched linear systems.Under the mild assumption that the switched system is observable,we present constructive approaches t... This work addresses observer design for the general class of quasi-reversible discrete-time switched linear systems.Under the mild assumption that the switched system is observable,we present constructive approaches to design state observers to estimate the state.Two types of observers are designed:one is with full order and the other is with reduced order,both could reconstruct the system state in finite times.A numerical example is presented to illustrate the effectiveness of the proposed approaches. 展开更多
关键词 Switched linear systems Observer-Observability
Design of two-layer switching rule for stabilization of switched linear systems with mismatched switching 认领 引用
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作者 Dan MA 《Control Theory and Technology》 EI CSCD 2014年第3期275-283,共9页
A two-layer switching architecture and a two-layer switching rule for stabilization of switched linear control systems are proposed, under which the mismatched switching between switched systems and their candidate hy... A two-layer switching architecture and a two-layer switching rule for stabilization of switched linear control systems are proposed, under which the mismatched switching between switched systems and their candidate hybrid controllers can be allowed. In the low layer, a state-dependent switching rule with a dwell time constraint to exponentially stabilize switched linear systems is given; in the high layer, supervisory conditions on the mismatched switching frequency and the mismatched switching ratio are presented, under which the closed-loop switched system is still exponentially stable in case of the candidate controller switches delay with respect to the subsystems. Different from the traditional switching rule, the two-layer switching architecture and switching rule have robustness, which in some extend permit mismatched switching between switched subsystems and their candidate controllers. 展开更多
关键词 Two-layer switching rule Mismatched switching Switched linear systems
Chaotification for switched linear systems with controllers 认领 引用
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作者 解玲丽 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI 2013年第9期1167-1174,共8页
This paper shows that two or more switched linear systems can generate chaotic dynamical behaviors by an appropriate switching rule as they at least consist of a controllable system and an unstable system with the exp... This paper shows that two or more switched linear systems can generate chaotic dynamical behaviors by an appropriate switching rule as they at least consist of a controllable system and an unstable system with the expanding property. According to the results in the reference （Xie, L. L., Zhou, Y., and Zhao, Y. Criterion of chaos for switched linear systems with antrollers. International Journal of Bifurcation and Chaos, 20（12）, 4105-4109 （2010））, a nonlinear feedback gain is needed to generate chaotic dy- namics. A linear feedback control is usually used to approximate the nonlinear one for simulation. In order to obtain the exact control, as a main result of this paper, the con- troller is constructed by Russell＇s result, and a block diagram is included to interpret the realization of the controller. Numerical simulations are given to illustrate the generated chaotic dynamical behavior of the switched linear systems with some parameters and show the effects of the constructed controller. 展开更多
关键词 chaotification switched linear system construction of controller
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Quadratic Stabilization of Switched Uncertain Linear Systems: A Convex Combination Approach 认领 引用 被引量：4
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作者 Yufang Chang Guisheng Zhai +1 位作者 Bo Fu Lianglin Xiong 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2019年第5期1116-1126,共11页
We consider quadratic stabilization for a class of switched systems which are composed of a finite set of continuoustime linear subsystems with norm bounded uncertainties. Under the assumption that there is no single ... We consider quadratic stabilization for a class of switched systems which are composed of a finite set of continuoustime linear subsystems with norm bounded uncertainties. Under the assumption that there is no single quadratically stable subsystem, if a convex combination of subsystems is quadratically stable, then we propose a state-dependent switching law, based on the convex combination of subsystems, such that the entire switched linear system is quadratically stable. When the state information is not available, we extend the discussion to designing an outputdependent switching law by constructing a robust Luenberger observer for each subsystem. 展开更多
关键词 Convex combination limear matrix inequalities (LMIs) norm bounded uncertainties output-dependent switching quadratic stabilization state-dependent switching switched uncertain linear systems(SULS)
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Asynchronous Observer Design for Switched Linear Systems: A Tube-Based Approach 认领 引用 被引量：3
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作者 Minghao Han Ruixian Zhang +2 位作者 Lixian Zhang Ye Zhao Wei Pan 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2020年第1期70-81,共12页
This paper proposes a tube-based method for the asynchronous observation problem of discrete-time switched linear systems in the presence of amplitude-bounded disturbances.Sufficient stability conditions of the nomina... This paper proposes a tube-based method for the asynchronous observation problem of discrete-time switched linear systems in the presence of amplitude-bounded disturbances.Sufficient stability conditions of the nominal observer error system under mode-dependent persistent dwell-time(MPDT)switching are first established. Taking the disturbances into account, a novel asynchronous MPDT robust positive invariant(RPI) set and an asynchronous MPDT generalized RPI(GRPI)set are determined for the difference system between the nominal and disturbed observer error systems. Further, the global uniform asymptotical stability of the observer error system is established in the sense of converging to the asynchronous MPDT GRPI set, i.e., the cross section of the tube of the observer error system. Finally, the proposed results are validated on a space robot manipulator example. 展开更多
关键词 Asynchronous observer design generalized robust positive invariant(GRPI) set mode-dependent persistent dwell-time(MPDT) switched linear systems
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Optimal design of linear switched reluctance motor for sea wave power generation 认领 引用 被引量：3
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作者 Zhao Xin Dongqin Xiong +2 位作者 Teng Yun Zhe Chen Guangwei Liu 《Global Energy Interconnection》 EI CSCD 2022年第4期434-447,共14页
The switchless reluctance motor’s non-permanent magnet structure design ensures its high reliability in the marine environment;thus,it is a feasible solution for the generator of a sea wave power generation system.Ho... The switchless reluctance motor’s non-permanent magnet structure design ensures its high reliability in the marine environment;thus,it is a feasible solution for the generator of a sea wave power generation system.However,the corresponding thrust density and efficiency remain insufficient.This study focused on a new type of flat linear switched reluctance motor(LSRM),using the finite element software to establish a structural model,and optimized the design with the goal of improving the efficiency and energy density.The entropy method was adopted for sensitivity stratification to objectively select weights to avoid the influence of subjectively selected different proportional weights on the optimization results.Based on the entropy method,the sensitivity of different structural parameters was stratified,and the simulated annealing algorithm,response surface method,and single parameter scanning method were combined for optimization.Finally,the optimal structural size parameters of the motor were determined.Based on the two-dimensional finite element method,to simulate the electromagnetic performance of the reluctance motor under different operating conditions,such as thrust,loss,and efficiency,changes in motor performance before and after optimization were compared to verify the high power generation efficiency and energy density of the optimized linear motor. 展开更多
关键词 Linear switch reluctance motor Wave power Hierarchical optimization Generation efficiency
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Stability and Robust Stability of Switched Positive Linear Systems With All Modes Unstable 认领 引用 被引量：3
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作者 Shaoxia Feng Juan Wang Jun Zhao 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2019年第1期167-176,共10页
This paper is concerned with the stability and robust stability of switched positive linear systems(SPLSs) whose subsystems are all unstable. By means of the mode-dependent dwell time approach and a class of discretiz... This paper is concerned with the stability and robust stability of switched positive linear systems(SPLSs) whose subsystems are all unstable. By means of the mode-dependent dwell time approach and a class of discretized co-positive Lyapunov functions, some stability conditions of switched positive linear systems with all modes unstable are derived in both the continuous-time and the discrete-time cases, respectively. The copositive Lyapunov functions constructed in this paper are timevarying during the dwell time and time-invariant afterwards. In addition, the above approach is extended to the switched interval positive systems. A numerical example is proposed to illustrate our approach. 展开更多
关键词 Discretized co-positive Lyapunov functions mode-dependent dwell time robust stability switched positive linear systems (SPLSs) unstable subsystem
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