Maode Yan

Discrete-time sliding mode control of nonlinear time-delay systems based on T-S fuzzy model

This paper presents the method of discrete-time sliding mode control (DT-SMC) for a class of nonlinear time-delay systems via Takagi-Sugeno (T-S) fuzzy model. First, the discrete-time linear model with uncertainties and tine-varying delay is derived by employing T-S model to represent original system. Then the control problem becomes the robust stabilization controller design for linear uncertain system with interval time-varying delay. By using the linear matrix inequality (LMI) technique, a sufficient condition for the existence of stable sliding surface depending on the lower and upper delay bounds, is established. On basis of this existence condition, the synthesized discrete-time sliding mode controller can guarantee the sliding mode reaching condition of the specified discrete-time sliding surface. Finally, an illustrative example of truck-trailer is presented to show the correctness and effectiveness of the proposed method.

Consensus Based Platoon Algorithm for Velocity-Measurement-Absent Vehicles with Actuator Saturation

We investigate the vehicle platoon problems, where the actuator saturation and absent velocity measurement are taken into consideration. Firstly, a novel algorithm, where a smooth function is introduced to deal with the sharp corner of the input signals, is proposed for a group of vehicles with actuator saturation by using the consensus theory. Secondly, by applying an auxiliary system for the followers to estimate the velocities, a control strategy for the vehicle platoon with actuator saturation and absent velocity measurement is designed via the adaptive control approach. Finally, numerical simulations are provided to illustrate the effectiveness of the proposed approaches.

Leader-Follower Consensus of Second-Order Multiagent Systems with Absent Velocity Measurement and Time Delay

The leader-follower consensus problem of second-order multiagent systems with both absent velocity measurement and time delay is considered. First of all, the consensus protocol is designed by introducing an auxiliary system to compensate for the unavailability of the velocity information. Then, time delay is incorporated into the consensus protocol and two cases with, respectively, constant time delay and time-varying delay are investigated. For the case of constant time delay, Lyapunov-Razumikhin theorem is deployed to obtain the sufficient conditions that guarantee the stability of the consensus algorithm. For the case of time-varying delay, the sufficient conditions are also derived by resorting to the Lyapunov-Razumkhin theorem and linear matrix inequalities (LMIs). Various numerical simulations demonstrate the correctness of the theoretical results.