Design and control of a multi-mobile-robot cooperative transport system based on a novel six degree-of-freedom connector

Angle attitude control for a networked pneumatic muscle actuators system with input quantization: A prescribed-time nonlinear ESO approach

In this paper, angle attitude control is investigated for a networked pneumatic muscle actuators system (NPMAS) with input quantization and disturbance. A hysteretic quantizer is presented to effectively avoid the problem of high frequency oscillation in the process of quantization. A novel prescribed-time nonlinear extended state observer (PTNESO) is designed to continuously observe states and lumped disturbances of NPMAS, which ensures that the observation error converges in prescribed time. An active disturbance rejection control (ADRC) method based on PTNESO is designed to compensate for the lumped disturbances and achieve accurate angle tracking. A sufficient condition of bounded stability for NPMAS is given by the Lyapunov method. Finally, comparative experiments are provided to verify the effectiveness of the proposed control method.

Consensus of a novel heuristic nonlinear multi-agent system in DOS attack network environment via saturation impulse control mechanism

This paper mainly studies the consensus control strategy for a novel heuristic nonlinear multi-agent system. Compared with most existing related researches, firstly, the novel heuristic nonlinear multi-agent system has the ability to construct its communication network topology heuristically, and can withstand long-term DOS(Denial of Service) attacks, with the advantages of high practicality and security. Secondly, in order to control the multi-agent system, a control protocol based on both saturation effect and impulse control mechanism is studied, which has the advantages of high efficiency, low cost and wide applicability. Thirdly, for the multi-agent system, its dynamic model is constructed and analyzed by Lyapunov stability theory and matrix measure theory, and some sufficient conditions for achieving consensus are obtained. Finally, through two simulation experiments and some corresponding comparative analysis, the correctness, efficiency, and superiority of the theories proposed in this paper were verified.