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"Cooperative control"
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Distributed adaptive event‐triggered fault‐tolerant cooperative control of multiple UAVs and UGVs under DoS attacks
Here, the issue of distributed adaptive event‐triggered fault‐tolerant cooperative control (FTCC) is studied for multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) in the presence of actuator faults under denial‐of‐service attacks. To save the limited communication network resources, the distributed adaptive event‐triggered FTCC scheme is investigated for the multiple UAVs and UGVs which does not require continuous information relating to its neighbours. It is proven that the tracking errors are uniformly ultimately bounded by utilizing the Lyapunov function approach. Furthermore, the Zeno behaviour is excluded with the proposed scheme. Finally, simulation studies are provided to demonstrate the efficiency of the proposed scheme. The issue of distributed adaptive event‐triggered fault‐tolerant cooperative control (FTCC) is studied for multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) in the presence of actuator faults under denial‐of‐service attacks. In order to save the limited communication network resources, the distributed adaptive event‐triggered FTCC scheme is investigated for the multiple UAVs and UGVs which does not require continuous information relating to its neighbours. Based on the proposed scheme, all follower UAVs and UGVs can track the leader and the tracking errors of the followers are uniformly ultimately bounded.
Journal Article
Secondary control of microgrids based on distributed cooperative control of multi-agent systems
This study proposes a secondary voltage and frequency control scheme based on the distributed cooperative control of multi-agent systems. The proposed secondary control is implemented through a communication network with one-way communication links. The required communication network is modelled by a directed graph (digraph). The proposed secondary control is fully distributed such that each distributed generator only requires its own information and the information of its neighbours on the communication digraph. Thus, the requirements for a central controller and complex communication network are obviated, and the system reliability is improved. The simulation results verify the effectiveness of the proposed secondary control for a microgrid test system.
Journal Article
Optimized Cooperative Control of Error Port-Controlled Hamiltonian and Adaptive Backstepping Sliding Mode for a Multi-Joint Industrial Robot
Robot joints driven by permanent magnet synchronous motors (PMSM) often cannot have both superior accuracy and rapidity when they track target signals. The robot joints have fine dynamic characteristics and poor steady-state characteristics when the signal controller is used, or they have fine steady-state characteristics and poor dynamic characteristics when the energy controller is used. It is hard to make robot joints that have both superior dynamic and steady-state characteristics at once using a single control method. In order to solve this problem, the strategy of optimized cooperative control is proposed. First, an error port-controlled Hamiltonian (EPCH) energy controller and an adaptive backstepping sliding mode (ABSM) signal controller are designed. Second, an optimized cooperative control coefficient based on the position error of a robot joint is designed; this enables the system to switch smoothly between the EPCH energy controller and ABSM signal controller. Next, the strategy of optimized cooperative control is designed. In this way, robot systems can combine the advantages of the EPCH energy controller and the ABSM signal controller. Finally, simulation results demonstrate that using the strategy of optimized cooperative control gives robot joints outstanding control performance in terms of tracking accuracy and response rapidity.
Journal Article
A novel self adaptive-electric fish optimization-based multi-lane changing and merging control strategy on connected and autonomous vehicle
Merging areas on freeways are key locations due to vehicles’ fixed lateral differences. Though, such challenges are considerably unnecessary with connected and autonomous vehicle (CAV) technology. In recent times, the existing studies focusing on CAV methodology intend to merge the maneuvers among an incoming ramp and a single-lane mainline. This paper develops the lane optimization model for CAV system for solving the complexities of multilane merging areas. The two major stages of the proposed model are lane changing and lane merging control optimization. For performing the lane changing control optimization, a self adaptive-electric fish optimization (SA-EFO)-based “cooperative lane changing control (CLCC)” is developed. The significant aim of the SA-EFO-based CLCC is to exploit the average velocity concerning the entire vehicles. Once the lane changing control strategies is done, lane merging control is performed through “cooperative merging control” optimization using the same proposed SA-EFO with the intention of maximizing the vehicle's average velocity. Finally, the simulation of the designed model reveals that the developed model is superior to existing merging algorithms over the existing models under different demand scenarios.
Journal Article
Design of Intelligent Distributed Cable Laying System Based on Multi-machine Cooperative Control Strategy
To solve the problems of complicated long-distance cable laying process, low laying efficiency and easy cable damage, an intelligent distributed cable laying system based on a multi-machine coordination strategy is proposed in this paper. Firstly, the multi-machine cooperative control strategy of cable clamping push laying is proposed, which solves the problem of complex and low efficiency of long-distance cable laying. Secondly, the intelligent cable-laying machine is developed to realize the perception and adaptive control of the cable-laying field conditions. Finally, an intelligent distributed cable laying system based on a multi-machine cooperative control strategy is developed. The combination of a multi-machine cooperative control strategy and an intelligent cable laying machine further strengthens the cooperation and stability of the whole system and provides a more intelligent and efficient way for cable laying.
Journal Article
Simultaneous achievement of driver assistance and skill development in shared and cooperative controls
Advanced driver-assistance systems have successfully reduced drivers’ workloads and increased safety. On the other hand, the excessive use of such systems can impede the development of driving skills. However, there exist collaborative driver-assistance systems, including shared and cooperative controls, which can promote effective collaboration between an assistance system and a human operator under appropriate system settings. Given an effective collaboration setup, we address the goal of simultaneously developing or maintaining driving skills while reducing workload. As there has been a paucity of research on such systems and their methodologies, we discuss a methodology applying shared and cooperative controls by considering related concepts in the skill-training field. Reverse parking assisted by haptic shared control is presented as a means of increasing performance during assistance, while skill improvement following assistance is used to demonstrate the possibility of simultaneous achievement of driver assistance through the reduction of workload and skill improvement.
Journal Article
Failure Characteristics and Cooperative Control Strategies for Gob-Side Entry Driving near an Advancing Working Face: A Case Study
Gob-side entry driving near an advancing working face can improve the recovery rate of coal resources and keep the balance between mining and development. However, the large displacement of the gob-side entry caused by the mining dynamics of abutment pressure challenges the safety and processes of coal mining. This article takes the 15102 tailentry of Xizhang Coal Mine in Changzhi City, Shanxi Province, as an example to study the stability of the coal pillar and the failure characteristics of the surrounding rock and proposes cooperative control strategies of surrounding rock stability. Field tests indicated that when the coal pillar width was 15 m, the displacements of the entry floor, roof, coal pillar side, and solid coal side were 1121 mm, 601 mm, 783 mm, and 237 mm, respectively. A meticulously validated numerical model, incorporating a double-yield model for the gob materials and calibrated parameters, was developed to investigate the stress changes and yield zone distribution across the coal pillar with different sizes. The results of the simulation indicate that the influence range of the dynamic abutment pressure caused by mining in the upper section of gob-side entry driving is 30 m ahead and 70 m behind. When the coal pillar width increases from 7 m to 20 m, the internal stress of the coal pillar increases continuously, while the internal stress of the solid coal decreases continuously. It is estimated that the reasonable coal pillar width should be 7 m, which is subjected to a lower load. The cooperative control strategies comprising a narrow coal pillar, hydraulic fracturing roof cutting for pressure relief, and entry dynamic support were proposed and applied in the 15103 tailentry. The final displacements of the floor, roof, coal pillar side, and solid coal side were 66.01%, 62.06%, 61.05%, and 63.30% lower than that of the 15102 tailentry in the same period, respectively, which effectively controlled the stability of surrounding rock. In addition, this finding for the gob-side entry driving near an advancing working face in this study can potentially be applied to other similar projects.
Journal Article
Distributed event-triggered adaptive robust platoon control of connected vehicles with uncertainties subject to invalid communication
This paper tackles the problem of connected vehicle platoon realistic control for the vehicle cooperative control system with the longitudinal nonlinear dynamics and parametric uncertainties subject to invalid communication. In the proposed cruise control strategy, a periodic event-triggered mechanism is designed to classify the invalid communication into packet losses and communication interruption so as to prevent frequently switching from cooperative adaptive cruise control mode to adaptive cruise control mode while also excluding Zeno behavior. The proposed adaptive robust control system guarantees that (i) the spacing errors of platoon vehicles rapidly converge to the neighborhood of zero, resulting in robust improvement of tracking performance; (ii) the closed-loop platoon control system is proved to be globally stable based on the Lyapunov stability theory by employing the eigenvalue decomposition method so that the synthesized distributed control law is low dimensional and independent of the length of vehicle platoon, avoiding extremely complex calculation. Additionally, the sufficient conditions for achieving string stability in a vehicle platoon are derived. Finally, numerical simulation results are given to demonstrate the effectiveness of proposed cruise control system subject to invalid communication.
Journal Article
Hierarchical Classification of Subject-Cooperative Control Strategies for Lower Limb Exoskeletons in Gait Rehabilitation: A Systematic Review
Over the last decade, lower limb exoskeletons have seen significant development, with a particular focus on improving the interaction between the subject and the exoskeleton. This has been achieved by implementing advanced control strategies that enable the safe and efficient use of the exoskeleton. In this work, the control strategies for lower limb exoskeletons are divided into upper-level control (supervisory and high-level control) and lower-level control (the servo layer). Before discussing these control strategies, a brief introduction to lower limb exoskeletons and their control schemes is provided. The control hierarchy for lower limb exoskeletons is then systematically reviewed along with an overview of the techniques used. A Preferred Reporting Items for Systematic Reviews and Meta-Analysis (PRISMA) statement is used to highlight the systematic process of identifying relevant articles with inclusion and exclusion criteria. The details of supervisory control, high-level control, and servo control strategies are presented by citing relevant state-of-the-art studies, particularly from the past five years. The targeted lower limb joint, training mode, and development stage for different control strategies are highlighted in a tabulated form to articulate the overall hierarchy level. Finally, the potential opportunities and limitations of subject-cooperative control are discussed. Overall, this work aims to provide an in-depth understanding of the control strategies used in lower limb exoskeletons, focusing on subject cooperation. This knowledge can be used to improve the safety and efficacy of lower limb exoskeletons, ultimately benefiting individuals with mobility impairments.
Journal Article