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  1. Article ; Online: Distributed Leader-Following Consensus of Feedforward Nonlinear Delayed Multiagent Systems via General Switched Compensation Control.

    Li, Kuo / Ahn, Choon Ki / Zheng, Wei Xing / Hua, Changchun

    IEEE transactions on cybernetics

    2024  Volume 54, Issue 4, Page(s) 2495–2504

    Abstract: This work examines the distributed leader-following consensus problem of feedforward nonlinear delayed multiagent systems involving directed switching topologies. In contrast to the existing studies, we focus on time delays acting on the outputs of ... ...

    Abstract This work examines the distributed leader-following consensus problem of feedforward nonlinear delayed multiagent systems involving directed switching topologies. In contrast to the existing studies, we focus on time delays acting on the outputs of feedforward nonlinear systems, and we permit that the partial topology dissatisfy the directed spanning tree condition. In the cases, we present a novel output feedback-based general switched cascade compensation control method that addresses the above-mentioned problem. First, we put forward a distributed switched cascade compensator by introducing multiple equations, and we design the delay-dependent distributed output feedback controller with the compensator. Subsequently, when the control parameters-dependent linear matrix inequality is met and the switching signal of the topologies obeys a general switching law, we prove that the established controller can render that the follower's state asymptotically tracks the leader's state by employing an appropriate Lyapunov-Krasovskii functional. The given algorithm allows output delays to be arbitrarily large and increases the switching frequency of the topologies. A numerical simulation is presented to demonstrate the practicability of our proposed strategy.
    Language English
    Publishing date 2024-03-18
    Publishing country United States
    Document type Journal Article
    ISSN 2168-2275
    ISSN (online) 2168-2275
    DOI 10.1109/TCYB.2023.3245125
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  2. Article ; Online: Adaptive Neural Asymptotic Tracking of Uncertain Non-Strict Feedback Systems With Full-State Constraints via Command Filtered Technique.

    Xin, Chun / Li, Yuan-Xin / Ahn, Choon Ki

    IEEE transactions on neural networks and learning systems

    2023  Volume 34, Issue 10, Page(s) 8102–8107

    Abstract: This brief addresses the adaptive neural asymptotic tracking issue for uncertain non-strict feedback systems subject to full-state constraints. By introducing the significant nonlinear transformed function (NTF), the command filtered technology, and the ... ...

    Abstract This brief addresses the adaptive neural asymptotic tracking issue for uncertain non-strict feedback systems subject to full-state constraints. By introducing the significant nonlinear transformed function (NTF), the command filtered technology, and the boundary estimation method into control design, a novel command filtered backstepping adaptive controller is proposed. The proposed control scheme is able to not only deal with full-state constraints but also avoid the "explosion of complexity" issue. By means of a Lyapunov stability analysis, we prove that: 1) the tracking error asymptotically converges to zero; 2) all the variables in the controlled systems are bounded; and 3) all the states are constrained in the asymmetric predefined sets. Finally, a numerical simulation is used to demonstrate the validity of the proposed algorithm.
    Language English
    Publishing date 2023-10-05
    Publishing country United States
    Document type Journal Article
    ISSN 2162-2388
    ISSN (online) 2162-2388
    DOI 10.1109/TNNLS.2022.3141091
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  3. Article ; Online: Adaptive Neural Network-Based Observer Design for Switched Systems With Quantized Measurements.

    Chen, Liheng / Zhu, Yanzheng / Ahn, Choon Ki

    IEEE transactions on neural networks and learning systems

    2023  Volume 34, Issue 9, Page(s) 5897–5910

    Abstract: This study is concerned with the adaptive neural network (NN) observer design problem for continuous-time switched systems via quantized output signals. A novel NN observer is presented in which the adaptive laws are constructed using quantized ... ...

    Abstract This study is concerned with the adaptive neural network (NN) observer design problem for continuous-time switched systems via quantized output signals. A novel NN observer is presented in which the adaptive laws are constructed using quantized measurements. Then, persistent dwell time (PDT) switching is considered in the observer design to describe fast and slow switching in a unified framework. Accurate estimations of state and actuator efficiency factor can be obtained by the proposed observer technique despite actuator degradation. Finally, a simulation example is provided to illustrate the effectiveness of the developed NN observer design approach.
    Language English
    Publishing date 2023-09-01
    Publishing country United States
    Document type Journal Article
    ISSN 2162-2388
    ISSN (online) 2162-2388
    DOI 10.1109/TNNLS.2021.3131412
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  4. Article ; Online: Tracking Performance of Feedback Systems Over a Fading Channel With Limited Bandwidth.

    Jiang, Xiaowei / Zhang, Bin / Ahn, Choon Ki / Zheng, Shiqi / Yan, Huaicheng

    IEEE transactions on cybernetics

    2024  Volume 54, Issue 2, Page(s) 1202–1211

    Abstract: In this study, we investigated the optimal tracking performance (OTP) of feedback control systems with limited bandwidth and colored noise in a fading channel. For the steady state of the feedback control systems, an equivalent average channel (EAC) ... ...

    Abstract In this study, we investigated the optimal tracking performance (OTP) of feedback control systems with limited bandwidth and colored noise in a fading channel. For the steady state of the feedback control systems, an equivalent average channel (EAC) model was developed by retaining the effects of the first and second moments of the multiplicative channel output, and on the basis of the coprime decomposition, all-pass factorization, and Youla parameterization of controllers, exact expressions for the OTP were derived by designing two compensators. The expressions quantitatively show the relationship between the OTP and inherent features of the plant. Specifically, the directions and locations of unstable poles (UPs) and nonminimum phase (NMP) zeros adversely affect the tracking performance. Furthermore, the bandwidth limitation and the presence of colored noise also degrade the tracking performance. Finally, our conclusions were verified by considering a numerical arithmetic example.
    Language English
    Publishing date 2024-01-17
    Publishing country United States
    Document type Journal Article
    ISSN 2168-2275
    ISSN (online) 2168-2275
    DOI 10.1109/TCYB.2022.3204569
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  5. Article ; Online: Event-Based Two-Step Transmission Mechanism for the Stabilization of Networked T-S Fuzzy Systems With Random Uncertainties.

    Gu, Zhou / Fan, Yujian / Sun, Xiang / Xie, Xiangpeng / Ahn, Choon Ki

    IEEE transactions on cybernetics

    2024  Volume 54, Issue 2, Page(s) 1283–1293

    Abstract: This article studies an event-based two-step transmission mechanism (TSTM) in the control design for networked T-S fuzzy systems. The transmission task is achieved in two steps. Consecutive triggering packets are relabeled in the first step by applying a ...

    Abstract This article studies an event-based two-step transmission mechanism (TSTM) in the control design for networked T-S fuzzy systems. The transmission task is achieved in two steps. Consecutive triggering packets are relabeled in the first step by applying a traditional event-triggered mechanism (ETM). Then a probabilistic approach is employed to determine which packet is a real release packet (RRP) in the second step. This event-based TSTM is particularly suitable for scenarios in which traditional ETMs are unable to determine which packets are redundant. By discarding most of the unnecessary data packets, especially when the system is tending toward stability, the burden on the network bandwidth is reduced. To establish a control strategy for T-S fuzzy-based nonlinear systems with random uncertainties, a new timing analysis technique is proposed. Additionally, the necessary conditions for a nonlinear system's mean-square asymptotic stability (MSAS) are derived. Finally, two practical applications demonstrate the effectiveness of the suggested transmission mechanism in networked T-S fuzzy systems.
    Language English
    Publishing date 2024-01-17
    Publishing country United States
    Document type Journal Article
    ISSN 2168-2275
    ISSN (online) 2168-2275
    DOI 10.1109/TCYB.2023.3337797
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  6. Article ; Online: Leader-Following Consensus Control for Uncertain Feedforward Stochastic Nonlinear Multiagent Systems.

    Li, Kuo / Hua, Changchun / You, Xiu / Ahn, Choon Ki

    IEEE transactions on neural networks and learning systems

    2023  Volume 34, Issue 2, Page(s) 1049–1057

    Abstract: This article addresses the leader-following consensus problem of feedforward stochastic nonlinear multiagent systems with switching topologies. Output information for all agents, except for state information, can be acquired based on sensor measurement. ... ...

    Abstract This article addresses the leader-following consensus problem of feedforward stochastic nonlinear multiagent systems with switching topologies. Output information for all agents, except for state information, can be acquired based on sensor measurement. Moreover, the stochastic disturbances from external unpredictable environments are considered on all agent systems with a feedforward structure. In these conditions, we propose a novel consensus scheme with a simple design procedure. First, for each follower, we construct a dynamic gain-based switched compensator using its output and its neighbor agents' outputs to provide feedback control signals. Then, for each follower, we develop a compensator-based distributed controller that is not directly associated with the topology switching signal such that it has a first derivative and antishake. Thereafter, by means of the Lyapunov stability theory, we verify that the leader-following consensus can be acquired asymptotically in probability under the controllers' action if the topology switching signal fulfills an average dwell time condition. Finally, the feasibility of the control algorithm is checked via numerical simulation.
    Language English
    Publishing date 2023-02-03
    Publishing country United States
    Document type Journal Article
    ISSN 2162-2388
    ISSN (online) 2162-2388
    DOI 10.1109/TNNLS.2021.3105109
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  7. Article ; Online: Fuzzy Small-Gain Approach for the Distributed Optimization of T-S Fuzzy Cyber-Physical Systems.

    Jin, Zhenghong / Sun, Xingjian / Qin, Zhengyan / Ahn, Choon Ki

    IEEE transactions on cybernetics

    2023  Volume 53, Issue 10, Page(s) 6491–6502

    Abstract: The distributed optimization problem (DOP) of Takagi-Sugeno (T-S) fuzzy cyber-physical systems is studied under the framework of weight-balanced graphs and quasistrongly connected characteristics. The objective is to drive the outputs of all agents to ... ...

    Abstract The distributed optimization problem (DOP) of Takagi-Sugeno (T-S) fuzzy cyber-physical systems is studied under the framework of weight-balanced graphs and quasistrongly connected characteristics. The objective is to drive the outputs of all agents to the optimal solution of a given global objective function regarded as the desired output, based on the partial information of the local objective functions. To this end, distributed optimal coordinators (DOCs) are used to generate optimal solutions of local objective functions that converge to the desired output, and fuzzy reference-tracking controllers are designed to ensure that all agents can track the optimal solutions. As novel technical results, two Lyapunov-based fuzzy input-to-state stability (ISS) small-gain theorems are proposed for the T-S fuzzy interconnected system. Thus, the overall closed-loop system is an interconnected system involving the modules of optimal coordinators and fuzzy tracking controllers with T-S fuzzy subsystems. The fuzzy ISS cyclic-small-gain theorem is applied to analyze the system stability. The DOP of T-S fuzzy cyber-physical systems is solved using the DOCs and fuzzy reference-tracking controllers through the fuzzy small-gain approach. A numerical example is presented to demonstrate the effectiveness and superiority of the proposed method.
    Language English
    Publishing date 2023-09-15
    Publishing country United States
    Document type Journal Article
    ISSN 2168-2275
    ISSN (online) 2168-2275
    DOI 10.1109/TCYB.2022.3202576
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  8. Article ; Online: Adaptive Neural Consensus for Fractional-Order Multi-Agent Systems With Faults and Delays.

    Zhang, Xiongliang / Zheng, Shiqi / Ahn, Choon Ki / Xie, Yuanlong

    IEEE transactions on neural networks and learning systems

    2023  Volume 34, Issue 10, Page(s) 7873–7886

    Abstract: This article investigates the consensus control for a class of fractional-order (FO) nonlinear multi-agent systems (MASs). Severe sensor/actuator faults and time-varying delays are both considered in the FO MASs. The severe faults may cause unknown ... ...

    Abstract This article investigates the consensus control for a class of fractional-order (FO) nonlinear multi-agent systems (MASs). Severe sensor/actuator faults and time-varying delays are both considered in the FO MASs. The severe faults may cause unknown control directions in MASs. A new adaptive controller, which is composed of a distributed FO Nussbaum gain, an FO filter, and an auxiliary function, is presented to deal with the severe faults. To cope with the time-varying delays, two different methods are proposed based on barrier Lyapunov function and Lyapunov-Krasovskii function, respectively. Meanwhile, the radial basis function neural network (RBF NN) is applied to approximate the unknown nonlinear functions during the design procedures. This can result in a low-complexity controller. Finally, two simulation examples are used to verify the validity of the proposed schemes.
    Language English
    Publishing date 2023-10-05
    Publishing country United States
    Document type Journal Article
    ISSN 2162-2388
    ISSN (online) 2162-2388
    DOI 10.1109/TNNLS.2022.3146889
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  9. Article ; Online: Neural-Network-Based Predefined-Time Adaptive Consensus in Nonlinear Multi-Agent Systems With Switching Topologies.

    Zhu, Yanzheng / Wang, Zuo / Liang, Hongjing / Ahn, Choon Ki

    IEEE transactions on neural networks and learning systems

    2023  Volume PP

    Abstract: A predefined-time adaptive consensus control strategy is developed for a class of multi-agent systems containing unknown nonlinearity. The unknown dynamics and switching topologies are simultaneously considered to adapt to actual scenarios. The time ... ...

    Abstract A predefined-time adaptive consensus control strategy is developed for a class of multi-agent systems containing unknown nonlinearity. The unknown dynamics and switching topologies are simultaneously considered to adapt to actual scenarios. The time required for tracking error convergence can be easily adjusted using the proposed time-varying decay functions. An efficient method is proposed to determine the expected convergence time. Subsequently, the predefined time is adjustable by regulating the parameters of the time-varying functions (TVFs). The neural network (NN) approximation technique is used to address the issue of unknown nonlinear dynamics through predefined-time consensus control. The Lyapunov stability theory testifies that the predefined-time tracking error signals are bounded and convergent. The feasibility and effectiveness of the proposed predefined-time consensus control scheme are demonstrated through the simulation results.
    Language English
    Publishing date 2023-01-30
    Publishing country United States
    Document type Journal Article
    ISSN 2162-2388
    ISSN (online) 2162-2388
    DOI 10.1109/TNNLS.2023.3238336
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  10. Article ; Online: Neural Adaptive Distributed Formation Control of Nonlinear Multi-UAVs With Unmodeled Dynamics.

    Yu, Yajing / Guo, Jian / Ahn, Choon Ki / Xiang, Zhengrong

    IEEE transactions on neural networks and learning systems

    2023  Volume 34, Issue 11, Page(s) 9555–9561

    Abstract: The problem of neural adaptive distributed formation control is investigated for quadrotor multiple unmanned aerial vehicles (UAVs) subject to unmodeled dynamics and disturbance. The quadrotor UAV system is divided into two parts: the position subsystem ... ...

    Abstract The problem of neural adaptive distributed formation control is investigated for quadrotor multiple unmanned aerial vehicles (UAVs) subject to unmodeled dynamics and disturbance. The quadrotor UAV system is divided into two parts: the position subsystem and the attitude subsystem. A virtual position controller based on backstepping is designed to address the coupling constraints and generate two command signals for the attitude subsystem. By establishing the communication mechanism between the UAVs and the virtual leader, a distributed formation scheme, which uses the UAVs' local information and makes each UAV update its position and velocity according to the information of neighboring UAVs, is proposed to form the required formation flight. By designing a neural adaptive sliding mode controller (SMC) for multi-UAVs, the compound uncertainties (including nonlinearities, unmodeled dynamics, and external disturbances) are compensated for to guarantee good tracking performance. The Lyapunov theory is used to prove that the tracking error of each UAV converges to an adjustable neighborhood of zero. Finally, the simulation results demonstrate the effectiveness of the proposed scheme.
    Language English
    Publishing date 2023-10-27
    Publishing country United States
    Document type Journal Article
    ISSN 2162-2388
    ISSN (online) 2162-2388
    DOI 10.1109/TNNLS.2022.3157079
    Database MEDical Literature Analysis and Retrieval System OnLINE

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