Huawen Ye

Brief paper: Decentralized stabilization of large-scale feedforward systems using saturated delayed controls

This paper investigates the problem of decentralized stabilization via saturated delayed feedback. First, a new class of saturated delayed feedback controllers is proposed for a class of single-input feedforward nonlinear systems. Then, this design scheme is generalized for the setting of decentralized feedforward systems using saturated time-delayed feedback. The stability analysis for the closed-loop decentralized systems is rather simple based on the proposed feedback structure.

Stabilisation designs for the inertia wheel pendulum using saturation techniques

In this article, three new global stabilisation designs are presented for the inertia wheel pendulum (IWP) using saturation techniques. The first controller is obtained using a twice differentiable saturation function and the backstepping technique. Without using the backstepping technique, the other two controllers are achieved in such a way that the IWP is equivalently transformed into a feedforward system with higher order terms, and then corresponding saturated controllers are put forward. The central idea of the latter two designs is to attenuate the higher order terms by selecting small saturation levels. For the three designs, global asymptotical stability is proven in a bottom-up manner, by showing that the closed-loop system has no finite escape time and reduces to an asymptotically stable dynamics. Simulation results show that the proposed control laws are effective.

Novel Stabilization Designs for the Ball-and-Beam System

Abstract In this paper, new global stabilizing control laws are presented for the ball-and-beam system in the two cases, with and without friction. The key to stabilize the ball-and-beam system is to deal with severe nonlinear terms. To this end, suitable state-dependent saturation levels are assigned and many efforts are made to compute the linear gain in finite time. The suggested method does not depend on homogeneity theory, backstepping technique and energy function technique.

The flocking and formation of multiple agents based on multiple virtual leaders

This paper processes the formation problem of multiple agents by assuming multiple virtual leaders. The basic idea is stated as follows: every dynamic agent is equipped with a virtual leader, and the agents reach consensus with their virtual leaders on the velocity and position through assigning stable control laws. Therefore, to solve the formation problem we just need to preset the trajectories of every virtual leader, and make each agent globally asymptotically track its virtual leader. The detailed work in this paper is stated as follows: we first present the tracking design for the model of single agent single virtual leader, and then deal with the situation of multiple agents multiple virtual leaders. The stability analysis in the case of multiple agents is carried out by constructing suitable Lyapunov function, and the collision avoidance performance can be achieved due to the introduction of the artificial potential field. Finally, simulation examples are given to show the validity of the result.

Further result on decentralized stabilization via saturated delayed feedback

This paper investigates the decentralized stabilization of large scale feedforward nonlinear systems via saturated delayed feedback. A class of saturated delayed controllers is first proposed for the single-input feedforward nonlinear systems: an appropriate normal form rather than the homogeneous property of feedforward systems is depended on, and a small parameter contained in the normal form is assigned into the control law. By tuning the small parameter, the control design allows an arbitrarily large input delay. This scheme is then extended to the setting of decentralized feedforward nonlinear systems. The effectiveness of the suggested algorithm is verified by simulations.

Saturated delayed controls for nonlinear multiple integrators

This paper presents saturated delayed controls for nonlinear multiple integrators that are in a feedforward form, guaranteeing that the closed-loop system are globally asymptotically stable at the origin. To compensate input delay of arbitrary length, the suggested algorithm depends on suitable normal forms rather than the homogeneity of multiple integrators, and consequently leads to the parameterizations different from the existing one. To illustrate the algorithm, saturated delayed controls are presented for the inertia wheel pendulum.