Direct Adaptive Preassigned Finite-Time Control With Time-Delay and Quantized Input Using Neural Network

Dual Flexible Prescribed Performance Control of Input Saturated High-Order Nonlinear Systems

This article first presents a dual flexible prescribed performance control (DFPPC) approach of input saturated high-order nonlinear systems (IS-HONSs). Compared to the existing PPC approaches of IS-HONSs, under which the performance constraint boundaries (PCBs) are usually fixed and bounded, resulting in a restriction of the initial error in the algorithm implementation; in addition, the coupling relationship between performance constraints and input saturation is usually ignored, resulting in the methods are very fragile when input saturation occurs. By designing the novel tensile model-based PCBs that depend on output and input constraints, the proposed DFPPC method provides sufficient resilience for both the initial conditions and the input saturation, so that the proposed DFPPC method can not only be suitable for multiple types of initial errors by adjusting the parameters, including , , and , where , and denote the initial PCBs; but also can achieve a good balance between input saturation and performance constraints, i.e., when the control input reaches or exceeds the saturation threshold, the PCBs can adaptively extend to avoid the singularity, and when the control input returns to the saturation threshold range, the PCBs are then adaptively restored to the original PCBs. The results show that the proposed DFPPC algorithm guarantees semi-global boundedness for all closed-loop signals, while ensuring that the system output accurately tracks the desired signal, and it consistently maintains the tracking error within the PCBs. The developed algorithm is illustrated by means of simulation instances.

A Modified Preassigned Finite-Time Control Scheme for Spacecraft Large-Angle Attitude Maneuvering and Tracking

This paper addresses the problem of large-angle attitude maneuvering and tracking control for rigid spacecraft, considering angular velocity and torque constraints, actuator faults, and external disturbances. First, a sliding-mode-like vector is constructed to guarantee the satisfaction of the angular velocity constraints. A modified preassigned finite-time function, which can adaptively adjust the boundaries, is then proposed to constrain the sliding-mode-like vector. The controller is designed to stabilize the closed-loop system using a barrier Lyapunov function. Additionally, actuator saturation is compensated adaptively, and the system's lumped disturbance is estimated using a fixed-time disturbance observer. Finally, the practically preassigned finite-time stability of the closed-loop system is demonstrated. In practical applications, the proposed controller can guarantee transient and steady-state performance, prevent excessive angular velocity, and ensure compliance with the physical limitations of the actuators. Simulation results are provided to demonstrate the effectiveness of the proposed controller.

Command filter-based event-triggered control for stochastic MEMS gyroscopes with finite-time prescribed performance

This paper proposes an adaptive neural control strategy for stochastic microelectromechanical system (MEMS) gyroscopes, aiming to achieve a prescribed performance in a finite time. The radial basis function neural network is introduced to address the system's unknown nonlinear dynamics and stochastic disturbances. Then, the technology of finite-time prescribed performance function, along with the method of command-filtered backstepping design, is utilized to ensure both transient and steady-state performance and simultaneously solve the problem of "explosion of complexity." Moreover, a switching threshold event-triggered control law is proposed to cut down on communication resources and eliminate corresponding parametric inequality restrictions. The proposed adaptive state feedback control strategy is able to guarantee that the output tracking error converges to a prescribed, arbitrarily small residual set. Additionally, the closed-loop system's signals can be semi-globally ultimately uniformly bounded in probability. Finally, numerical simulations demonstrate the effectiveness and superiority of the proposed strategy.

Event-triggered adaptive control for nonlinear systems using time-receding horizons without initial dependence

This paper investigates the full-state constraint event-triggered adaptive control for a class of uncertain strict-feedback systems. The lack of information on the coupling dynamics of virtual variables in backstepping increases the complexity of feedback design. Given this, the requirements of shaping system performance constraints, eliminating initial dependence, and reducing data transfer costs together give rise to an interesting and challenging problem. Constructing the time-receding horizon (TRH) and stitching it with the quadratic Lyapunov function (QLF) is the key to constrained tracking. Specifying TRHs as a set of smooth bounds with fixed-time convergence and forcing the system to stabilize within the constrained region before the prescribed settling time provide a sufficient condition for practical finite-time stability (PFS). For relaxing the initial dependence, a tuning function is designed to match the performance constraints under arbitrary system initial conditions. A dual-channel event-triggered mechanism (ETM) is developed to automatically adjust the controller and estimator data flow updates with less transmission burden. By combining a specific inequality with backstepping, uncertainties are overcome without the "complexity explosion" in recursion steps. Finally, simulations demonstrate the effectiveness of the proposed method.

Data-Knowledge-Driven Self-Organizing Fuzzy Neural Network

Fuzzy neural networks (FNNs) hold the advantages of knowledge leveraging and adaptive learning, which have been widely used in nonlinear system modeling. However, it is difficult for FNNs to obtain the appropriate structure in the situation of insufficient data, which limits its generalization performance. To solve this problem, a data-knowledge-driven self-organizing FNN (DK-SOFNN) with a structure compensation strategy and a parameter reinforcement mechanism is proposed in this article. First, a structure compensation strategy is proposed to mine structural information from empirical knowledge to learn the structure of DK-SOFNN. Then, a complete model structure can be acquired by sufficient structural information. Second, a parameter reinforcement mechanism is developed to determine the parameter evolution direction of DK-SOFNN that is most suitable for the current model structure. Then, a robust model can be obtained by the interaction between parameters and dynamic structure. Finally, the proposed DK-SOFNN is theoretically analyzed on the fixed structure case and dynamic structure case. Then, the convergence conditions can be obtained to guide practical applications. The merits of DK-SOFNN are demonstrated by some benchmark problems and industrial applications.

Pinning Spatiotemporal Sampled-Data Synchronization of Coupled Reaction-Diffusion Neural Networks Under Deception Attacks

In this article, we investigate the pinning spatiotemporal sampled-data (SD) synchronization of coupled reaction-diffusion neural networks (CRDNNs), which are directed networks with SD in time and space communications under random deception attacks. In order to handle with the random deception attacks, we establish a directed CRDNN model, which respects the impacts of variable sampling and random deception attacks within a unified framework. Through the designed pinning spatiotemporal SD controller, sufficient conditions are obtained by linear matrix inequalities (LMIs) that guarantee the mean square exponential stability of the synchronization error system (SES) derived by utilizing inequality techniques, the stochastic analysis technique, and Lyapunov-Krasovskii functional (LKF). Finally, a numerical example is utilized to support the presented pinning spatiotemporal SD synchronization method.

Adaptive Synchronization of Reaction-Diffusion Neural Networks With Nondifferentiable Delay via State Coupling and Spatial Coupling

In this article, master-slave synchronization of reaction-diffusion neural networks (RDNNs) with nondifferentiable delay is investigated via the adaptive control method. First, centralized and decentralized adaptive controllers with state coupling are designed, respectively, and a new analytical method by discussing the size of adaptive gain is proposed to prove the convergence of the adaptively controlled error system with general delay. Then, spatial coupling with adaptive gains depending on the diffusion information of the state is first proposed to achieve the master-slave synchronization of delayed RDNNs, while this coupling structure was regarded as a negative effect in most of the existing works. Finally, numerical examples are given to show the effectiveness of the proposed adaptive controllers. In comparison with the existing adaptive controllers, the proposed adaptive controllers in this article are still effective even if the network parameters are unknown and the delay is nonsmooth, and thus have a wider range of applications.

Adaptive fuzzy prescribed time tracking control for nonlinear systems with input saturation

This article investigates the adaptive fuzzy prescribed time tracking control problem for a class of strict-feedback systems simultaneously considering the user-defined asymmetric tracking performance, input saturation, and external disturbances. From the perspective of ensuring the reliability for control implementation, a saturation-based fixed-time funnel boundary is constructed by embedding the modification signals related to input saturation errors into a funnel function, which is capable of automatically enlarging or recovering itself when input saturation occurs or disappears, thereby reducing the risk of system singularity. Subsequently, by constructing a fixed-time tracking performance function, any known bounded tracking error is recast into a new variable with a zero initial value. With such a treatment, funnel boundaries are no longer redeveloped for different initial tracking errors, and meanwhile the behavior of the tracking error is pre-specified as needed over a finite time interval. Also, auxiliary systems are devised to generate the aforesaid modification signals, while compensating for the adverse impact resulting from input saturation. Remarkably, by feat of the backstepping design based on the fuzzy approximation, it is proven that the tracking error converges to a user-defined region within a prescribed time (known as the practically prescribed time tracking), which is achieved without the fractional power feedback of system states. Finally, two simulation examples are presented to confirm the feasibility and effectiveness of the developed approach.

Synchronization of Generally Uncertain Markovian Inertial Neural Networks With Random Connection Weight Strengths and Image Encryption Application

This article focuses on the synchronization problem of delayed inertial neural networks (INNs) with generally uncertain Markovian jumping and their applications in image encryption. The random connection weight strengths and generally uncertain Markovian are discussed in the INNs model. Compared with most existing INNs models that have constant connection weight strengths, our model is more practical because connection weight strengths of INNs may randomly vary due to the external and internal environment and human factor. The delay-range-dependent synchronization conditions (DRDSCs) could be obtained by adopting the delay-product-term Lyapunov-Krasovskii functional (DPTLKF) and higher order polynomial-based relaxed inequality (HOPRII). In addition, the desired controllers are obtained by solving a set of linear matrix inequalities. Finally, two examples are shown to demonstrate the effectiveness of the proposed results.

Decentralized adaptive neural safe tracking control for nonlinear systems with conflicted output constraints

The issue of decentralized adaptive safe tracking control for interconnected large-scale nonlinear systems (ILSNSs) with conflicted output constraints is discussed in this paper. By "conflicted output constraints", we mean that the output constraint functions conflict with reference signal, i.e., the reference signal is not completely constrained within the constraint range. In existing methods, it is always assumed that the reference signal is constrained within the constraint region. In practice, the constraints may be detected during system operation and conflict with the reference signal given in advance. In this particular case, the existing methods based on barrier Lyapunov function (BLF) or nonlinear transformation function (NTF) are invalid. From a new point of view, this article designs a new safety reference signal (SRS) which is completely restricted within the constraint range by using the boundary protection approach. Meanwhile, a prescribed performance function which can arbitrarily define the convergence time and tracking accuracy is introduced so that the system output can better track the SRS. Then, combining backstepping technique and radial basis function neural network (RBFNN), a new controller is constructed, under which a desired tracking trajectory can be obtained under the premise of ensuring safety performance. Furthermore, by adding a dynamic event triggering mechanism (DETM) between the actuator and the plant, the communication burden is effectively reduced. Simulation results verify the scheme developed.

Neural-Network-Based Adaptive Tracking Control for Nonlinear Multiagent Systems: The Observer Case

This article focuses on the neural-network (NN)-based adaptive tracking control issue for a class of high-order nonlinear multiagent systems both subjected to the immeasurable state variables and unknown external disturbance. Combining with the radial basis function NNs (RBF NNs), the composite disturbance observer and state observer for each follower are established, respectively. The purpose of this work is to develop NN-based adaptive tracking control schemes such that the output of each follower ultimately tracks that of the leader and all the signals of the closed-loop systems are semiglobally uniformly ultimately bounded by utilizing the backstepping technique. Furthermore, so as to cope with the sparsity of the control resources, the proposed method is extended to the event-triggered case and the adaptive event-triggered tracking control protocol is formulated for nonlinear multiagent systems. Finally, the numerical example is performed to verify the efficacy of the proposed approach.

Adaptive Multigradient Recursive Reinforcement Learning Event-Triggered Tracking Control for Multiagent Systems

This article proposes a fault-tolerant adaptive multigradient recursive reinforcement learning (RL) event-triggered tracking control scheme for strict-feedback discrete-time multiagent systems. The multigradient recursive RL algorithm is used to avoid the local optimal problem that may exist in the gradient descent scheme. Different from the existing event-triggered control results, a new lemma about the relative threshold event-triggered control strategy is proposed to handle the compensation error, which can improve the utilization of communication resources and weaken the negative impact on tracking accuracy and closed-loop system stability. To overcome the difficulty caused by sensor fault, a distributed control method is introduced by adopting the adaptive compensation technique, which can effectively decrease the number of online estimation parameters. Furthermore, by using the multigradient recursive RL algorithm with less learning parameters, the online estimation time can be effectively reduced. The stability of closed-loop multiagent systems is proved by using the Lyapunov stability theorem, and it is verified that all signals are semiglobally uniformly ultimately bounded. Finally, two simulation examples are given to show the availability of the presented control scheme.

Finite-Time Synchronization of Markovian Coupled Neural Networks With Delays via Intermittent Quantized Control: Linear Programming Approach

This article is devoted to investigating finite-time synchronization (FTS) for coupled neural networks (CNNs) with time-varying delays and Markovian jumping topologies by using an intermittent quantized controller. Due to the intermittent property, it is very hard to surmount the effects of time delays and ascertain the settling time. A new lemma with novel finite-time stability inequality is developed first. Then, by constructing a new Lyapunov functional and utilizing linear programming (LP) method, several sufficient conditions are obtained to assure that the Markovian CNNs achieve synchronization with an isolated node in a settling time that relies on the initial values of considered systems, the width of control and rest intervals, and the time delays. The control gains are designed by solving the LP. Moreover, an optimal algorithm is given to enhance the accuracy in estimating the settling time. Finally, a numerical example is provided to show the merits and correctness of the theoretical analysis.

Adaptive Control and Application for Nonlinear Systems With Input Nonlinearities and Unknown Virtual Control Coefficients

This article is devoted to an adaptive tracking control problem for nonlinear systems with input deadzone and saturation, whose virtual control coefficients include the known and unknown terms. A novel smooth function is first introduced to approximate the input nonlinearities. By utilizing an auxiliary variable and the Nussbaum gain technique, an improved real control signal is constructed to handle the uncertainties of the virtual control coefficients and input nonlinearities. Furthermore, an adaptive tracking controller is constructed and applied to the attitude control of a quadrotor, which guarantees the boundedness of all the signals in the resulting closed-loop system. Finally, both stability analysis and simulation results validate the effectiveness of the developed control strategy.

Predictor-Based Neural Dynamic Surface Control for Bipartite Tracking of a Class of Nonlinear Multiagent Systems

This article is concerned with bipartite tracking for a class of nonlinear multiagent systems under a signed directed graph, where the followers are with unknown virtual control gains. In the predictor-based neural dynamic surface control (NDSC) framework, a bipartite tracking control strategy is proposed by the introduction of predictors and the minimal number of learning parameters (MNLPs) technology along with the graph theory. Different from the traditional NDSC, the predictor-based NDSC utilizes prediction errors to update the neural network for improving system transient performance. The MNLPs technology is employed to avoid the problem of "explosion of learning parameters". It is proved that all closed-loop signals steered by the proposed control strategy are bounded, and the system achieves bipartite consensus. Simulation results verify the efficiency and effectiveness of the strategy.

Neural network-based adaptive synchronization for second-order nonlinear multiagent systems with unknown disturbance

This paper handles the distributed adaptive synchronization problem for a class of unknown second-order nonlinear multiagent systems subject to external disturbance. It is supposed to be an unknown one for the underlying external disorder. First, the neural network-based disturbance observer is developed to deal with the impact induced by the strange disturbance. Then, a new distributed adaptive synchronization criterion is put forward based on the approximation capability of the neural networks. Next, we propose the necessary and sufficient condition on the directed graph to ensure the synchronization error of all followers can be reduced small enough. Then, the distributed adaptive synchronization criterion is further explored because it is difficult to obtain the relative velocity measurements of the agents. The distributed adaptive synchronization criterion without the velocity measurement feedback is also designed to fulfill the current investigation. Finally, the simulation example is performed to verify the correctness and effectiveness of the proposed theoretical results.

Observer-Based Quasi-Synchronization of Delayed Dynamical Networks With Parameter Mismatch Under Impulsive Effect

This article focuses on the observer-based quasi-synchronization problem of delayed dynamical networks with parameter mismatch under impulsive effect. First, since the state of each node is unknown in the real situation, the state estimation strategy is proposed to estimate the state of each node, so as to design an appropriate synchronization controller. Then, the corresponding controller is constructed to synchronize the slave nodes with their leader node. In this article, we take the impulsive effect into consideration, which means that an impulsive signal will be applied to the system every so often. Due to the existence of parameter mismatch and time-varying delay, by constructing an appropriate Lyapunouv function, we will eventually obtain a differential equation with constant and time-varying delay terms. Then, we analyze its trajectory by introducing the Cauchy matrix and prove its boundedness by contradiction. Finally, a numerical simulation is presented to illustrate the validness of obtained results.

Adaptive Fault-Tolerant Tracking Control for Discrete-Time Multiagent Systems via Reinforcement Learning Algorithm

This article investigates the adaptive fault-tolerant tracking control problem for a class of discrete-time multiagent systems via a reinforcement learning algorithm. The action neural networks (NNs) are used to approximate unknown and desired control input signals, and the critic NNs are employed to estimate the cost function in the design procedure. Furthermore, the direct adaptive optimal controllers are designed by combining the backstepping technique with the reinforcement learning algorithm. Comparing the existing reinforcement learning algorithm, the computational burden can be effectively reduced by using the method of less learning parameters. The adaptive auxiliary signals are established to compensate for the influence of the dead zones and actuator faults on the control performance. Based on the Lyapunov stability theory, it is proved that all signals of the closed-loop system are semiglobally uniformly ultimately bounded. Finally, some simulation results are presented to illustrate the effectiveness of the proposed approach.