Search

This work addresses a time‐sensitive coverage control problem for multiple non‐holonomic mobile robots. The coverage objective is evaluated by the total arrivial time of robots reaching their dominant clients with the predefined constant but heterogeneous velocities. An extremum‐seeking control framework is proposed, including a numerical optimizer that iteratively produces the optimal waypoints of robots minimizing the total arriving time and a state regulator that drives the robot's positions to the optimal locations under both constraints non‐holonomic kinematic model and the constant‐velocity. An improved K‐means algorithm is first designed to produce the waypoint sequence. A theoretical analysis of the convergence of coverage objectives is provided. Then a fixed‐time state regulator for the robot's angular velocity is derived from regulating robot positions to the desired waypoints within each time step that varies with the heterogeneous traversing velocity and the distance between waypoints. Finally, the results are validated by a virtual robotic simulation platform and the experiment on real robots, showing that the proposed methods can efficiently deploy multiple heterogeneous robots for time‐sensitive services to clients with a discrete distribution. The simulation and experimental code are open‐sourced at https://gitee.com/ahu‐icip/simulation.git. [ABSTRACT FROM AUTHOR]

For a class of conic‐type non‐linear time‐delay Markov jump systems, the asynchronous dissipative output feedback controller based on the guaranteed cost control and quantiser is designed in this study. In real applications, the system and the controller modes are always non‐synchronous, so we introduce the hidden Markov model to solve this problem. Furthermore, we define three novel auxiliary variables and use quantisers to accomplish the output feedback controller design. Then, the finite‐time boundedness and strict dissipativity of the closed‐loop systems are guaranteed by sufficient conditions, and the controller also meets the guaranteed cost‐control performance. By solving a set of linear matrix inequalities, we get the controller gains, the guaranteed cost control performance index J*, and the dissipative performance index α. Finally, the correctness and feasibility of this designed approach are demonstrated by a given example. [ABSTRACT FROM AUTHOR]

The asynchronous resilient observer design problem for a class of non‐linear switched systems with time‐delays and uncertainties in a given finite‐time interval is studied here. By constructing appropriate multiple Lyapunov–Krasovskii functions and applying the average dwell‐time method, the switching law and the asynchronous resilient observer are designed to guarantee the finite‐time boundedness of the augment system with a specified H∞ performance. The resilient observer design problems can be derived to solve a set of linear matrix inequalities. A numerical simulation is employed to demonstrate the availability of the proposed methods. [ABSTRACT FROM AUTHOR]

An observer‐based finite‐time asynchronous H∞ control law is designed for a class of hidden Markov jumping systems with non‐linearities and external disturbances. The non‐linearities satisfy the conic‐type constraint condition that lies in a known hypersphere with an uncertain centre. The non‐synchronisation phenomenon between the system modes and observer/controller modes is modelled by a hidden Markov model. By means of the proper stochastic Lyapunov–Krasovskii functional method, a sufficient condition is obtained to guarantee the stochastic finite‐time boundedness of the corresponding argument error dynamic systems with a satisfied H∞ disturbance rejection level. Finally, the feasibility and validity of the main results is illustrated through a pratical example related to the DC motor. [ABSTRACT FROM AUTHOR]

The finite‐time stabilisation for a class of time‐delayed Markovian jumping systems with conic nonlinearities is studied. The authors aim to design a suitable control law to stabilise the closed‐loop system during a specified finite time. An appropriate Lyapunov–Krasovskii functional method is given to ensure the existence of finite‐time stabilisation controller and the relevant sufficient conditions have been formulated in the form of linear matrix inequalities. Finally, a simulation example is given to show the effectiveness of the proposed design approach. [ABSTRACT FROM AUTHOR]

This studies the infinite horizon optimal control problem for a class of continuous‐time systems subjected to multiplicative noises and Markovian jumps by using a data‐driven policy iteration algorithm. The optimal control problem is equivalent to solve a stochastic coupled algebraic Riccatic equation (CARE). An off‐line iteration algorithm is first established to converge the solutions of the stochastic CARE, which is generalised from an implicit iterative algorithm. By applying subsystems transformation (ST) technique, the off‐line iterative algorithm is decoupled into N parallel Kleinman's iterative equations. To learn the solution of the stochastic CARE from N decomposed linear subsystems data, an ST‐based data‐driven policy iteration algorithm is proposed and the convergence is proved. Finally, a numerical example is given to illustrate the effectiveness and applicability of the proposed two iterative algorithms. [ABSTRACT FROM AUTHOR]

This study studies the online adaptive optimal control problems for a class of continuous‐time Markov jump linear systems (MJLSs) based on a novel policy iteration algorithm. By utilising a new decoupling technique named subsystems transformation, the authors re‐construct the MJLSs and a set of new coupled systems composed of N subsystems are obtained. The online policy iteration algorithm was used to solve the coupled algebraic matrix Riccati equations with partial knowledge regarding to the system dynamics, and the relevant optimal controllers equivalent to the investigated MJLSs are designed. Moreover, the convergence of the novel policy iteration algorithm is also established. Finally, a simulation example is given to illustrate the effectiveness and applicability of the proposed approach. [ABSTRACT FROM AUTHOR]