Mobile robots tracking a reference trajectory are constrained by the motion limits of their actuators, which impose requirement for high autonomy driving capabilities in robots. This paper presents model predictive control (MPC) scheme incorporating neural-dynamic optimization to achieve nonholonomic mobile (NMRs). By using derived tracking-error kinematics robots, proposed MPC approach is iteratively transformed as quadratic programming (QP) problem, and then primal-dual neural network used...

This paper is concerned with the problem of guaranteed cost control for a class continuous-time networked systems based on Takagi-Sugeno fuzzy model approach. In this study, network-induced transmission delays and packet dropouts are taken into simultaneous consideration. By improved Lyapunov-Krasovskii functionals, less-conservative delay-dependent condition proposed stability analysis resulting closed-loop system. Furthermore, sufficient under which controller exists formulated in terms...

Abstract This paper proposes a two‐dimensional infinite horizon linear quadratic iterative learning control (2D‐IHLQILC) strategy based on error compensation. The aims to address the shortcomings of one‐dimensional (1D‐IHLQC), which is unable utilize historical batch information. Firstly, novel extended state space model established describe process, provides more degrees freedom for controller design and enables additional adjustment process input increment output increment. Secondly, an...

Abstract For plants with complex dynamics, traditional dynamic matrix control (DMC), which includes output errors and increments in the cost function, usually exhibits limited performance. To obtain a better performance system overshoot, we propose novel DMC method an penalty term without increasing computational complexity. First, design quadratic for integrate it into function. This is used to penalize output, thereby reducing overshoot. Considering that function already contains three...

Abstract The trajectory tracking control for wheeled mobile robots (WMRs) with unknown longitudinal slipping is studied in this paper. Firstly, the ratios are introduced to describe slippage and kinematic model of WMRs established, which takes displacement between center mass WMR midpoint driving wheels axis into consideration. Then an adaptive law proposed based on a new Lyapunov function, asymptotic stability error system derived directly by Barbalat's lemma. Finally, some numerical...

This article concentrates on the finite-time nonfragile distributed dissipative filtering issue for time-varying switched stochastic systems (SSSs) with state saturations over wireless sensor networks based FlexRay communication protocol. To effectively deal resource restriction problem of public network and energy consumption nodes, protocol, including Round-Robin protocol (RRP) weighted try-once-discard (WTODP), is introduced to schedule data transmission each node. In addition, phenomenon...

This article investigates the trajectory tracking control problem for wheeled mobile robot (WMR) subject to both velocity and torque constraints. Firstly, a more general model is established by considering displacement between centre of mass midpoint driving wheels WMR, based on which, new bounded kinematic controller proposed combining first-order filtering approach keep error asymptotically stable. Then dynamic designed stability overall closed-loop system proved Lyapunov theory Barbalat's...

Abstract A large amount of data generated in industrial processes exhibit multi‐modal, nonlinear, time‐domain correlation, and other characteristics. This poses great difficulty for the traditional principal component analysis (PCA) method since it requires that input need to conform Gaussian distribution. However, may have autocorrelation, is, at current moment will be affected by past data. To this end, paper proposes an enhanced dynamic (DPCA) based on hierarchical clustering analysis. On...

Abstract In this paper, the sliding mode control for a class of uncertain discrete‐time singular system with performance constraint is studied. By taking matrix E into consideration, new type integral surface firstly introduced, based on which sufficient condition derived to guarantee dynamics admissible given γ ‐level disturbance attenuation unmatched disturbance. A controller law also keep trajectory staying in neighborhood ideal surface. Finally, numerical example show effectiveness...

The nonlinear interconnected system is a complex and important in daily production life general. Due to the interconnection influence between subsystems external disturbance factors, prone failure. For this kind of system, decentralized fault detection tolerant control method proposed here. Compared with traditional scheme, paper designs subsystem communication protocol reduce information exchange subsystems. Based on protocol, scheme then designed. existence threshold can detect time...

Abstract When the Smith predictive controller controls first‐order plus dead time process, it is too sensitive to parameter changes of system, leading poor system stability and no practical application value. First, this paper derives proves equivalent form Smith‐proportional‐integral‐derivative (PID) control strategy as a PI (PPI) strategy. Second, proposes new double (DPPI), where DPPI mainly consists predictor with an integral link. Again, for in strategy, two regulation parameters are...

The trajectory tracking control problem for wheeled mobile robot (WMR) subject to generalized torque constraints is studied in this paper. First, a more general model obtained by taking the displacement between centre of mass WMR and midpoint driving wheels into consideration. Then, virtual velocity controller are designed based on new Lyapunov function. Due advantages function, stability error system can be derived directly constraint initial errors removed. Less conservative conditions...