Guo-Ping Liu

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Papers by Guo-Ping Liu

Optimal PID tuning using direst search algorithms

Computing & Control Engineering Journal, 1999

Methods for tuning PID controllers so that the closed loop response closely matches that of a ref... more Methods for tuning PID controllers so that the closed loop response closely matches that of a reference model are described. These approaches are based on direct search optimisation using an identified model and can be applied to a wide variety of industrial processes, including those with high order dynamics. Results from the application to controller tuning for two distinct industrial systems are presented which demonstrate both the power and the limitations of the technique.

Predictive sliding-mode control of networked high-order fully actuated systems under random deception attacks

Science China Information Sciences

Tracking Control of Multi-Agent Systems Using a Networked Predictive PID Tracking Scheme

IEEE/CAA Journal of Automatica Sinica

With the rapid development of network technology and control technology, a networked multi-agent ... more With the rapid development of network technology and control technology, a networked multi-agent control system is a key direction of modern industrial control systems, such as industrial Internet systems. This paper studies the tracking control problem of networked multi-agent systems with communication constraints, where each agent has no information on the dynamics of other agents except their outputs. A networked predictive proportional integral derivative (PPID) tracking scheme is proposed to achieve the desired tracking performance, compensate actively for communication delays, and simplify implementation in a distributed manner. This scheme combines the past, present and predictive information of neighbour agents to form a tracking error signal for each agent, and applies the proportional, integral, and derivative of the agent tracking error signal to control each individual agent. The criteria of the stability and output tracking consensus of multi-agent systems with the networked PPID tracking scheme are derived through detailed analysis on the closed-loop systems. The effectiveness of the networked PPID tracking scheme is illustrated via an example.

Null-Space-Based Time-Varying Formation Control of Uncertain Nonlinear Second-Order Multiagent Systems With Collision Avoidance

IEEE Transactions on Industrial Electronics

In this article, the time-varying formation control problem with collision avoidance is addressed... more In this article, the time-varying formation control problem with collision avoidance is addressed for uncertain nonlinear second-order multiagent systems in a null-space-based behavioral control architecture. To guarantee the tracking and coordination performance simultaneously, a novel and flexible time-varying formation task strategy is designed where only neighborhood information is necessary. Moreover, the agent radius and a sine function are introduced such that the collision avoidance task function describes collision risk more accurately in contrast to existing results. Then, two fixed-time sliding mode controllers with constant and variable exponent coefficients, respectively, are proposed to track the desired trajectory generated by null space projection. Also, the theoretical results for the task design and trajectory tracking are obtained by using the Lyapunov stability theory. Numerical simulation and practical experiments are finally conducted to illustrate the effectiveness and superiority of the proposed method. Index Terms-Collision avoidance (CA), fixed-time control, multiagent systems (MASs), null-space-based behavioral (NSB) control, sliding mode controller, time-varying formation.

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Comparison of Three Data-Driven Networked Predictive Control Methods for a Class of Nonlinear Systems

IEEE/CAA Journal of Automatica Sinica

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Predictive Control of High-Order Fully Actuated Nonlinear Systems with Time-Varying Delays

Journal of Systems Science and Complexity

Attitude and Orbit Optimal Control of Combined Spacecraft via a Fully-Actuated System Approach

Journal of Systems Science and Complexity

This paper investigates the attitude and orbit control for the combined spacecraft formed after a... more This paper investigates the attitude and orbit control for the combined spacecraft formed after a target spacecraft without the autonomous control ability is captured by a service spacecraft. The optimal controller of fully-actuated system is proposed to realize the attitude and orbit stabilization control of combined spacecraft. The stability of the system is proved by introducing Lyapunov function. Numerical simulation of the combined spacecraft and physical experiment based on the combined spacecraft simulator (CSS) are completed. Both simulation and experiment results demonstrate the effectiveness and practicability of the optimal controller of fully-actuated system.

Design and practical implementation of networked predictive control systems

Proceedings. 2005 IEEE Networking, Sensing and Control, 2005.

This paper is concerned with the design and practical implementation of the Networked Predictive ... more This paper is concerned with the design and practical implementation of the Networked Predictive Control (NPC) method based on the ball-beam system. Ball-beam system is a typical nonlinear system wildly used to test control schemes. The principle of predictive control is adopted to overcome the effects of network time delay and packet dropout. The results both of simulations and experiments show the effectiveness of the proposed strategy.

Global bounded controlled consensus of multi-agents systems with non-identical nodes and communication time-delay topology

Proceedings of 2012 UKACC International Conference on Control, 2012

This paper investigates the global bounded consensus problem of Networked Multi-Agent Systems exh... more This paper investigates the global bounded consensus problem of Networked Multi-Agent Systems exhibiting nonlinear, non-identical agent dynamics with communication timevarying delay. Globally bounded controlled consensus conditions based on pinning control method and adaptive pinning control method are derived. The proposed consensus criteria ensures that all agents eventually move along desired trajectories in terms of boundedness. The proposed controlled consensus criteria generalizes the case of identical agent dynamics to the case of non-identical agent dynamics, and many related results of other researches in this area can be viewed as special cases of the above results. We finally demonstrate the effectiveness of the theoretical results by means of a numerical simulation.

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Fractional Order Distributed Model Predictive Control of Fast and Strong Interacting Systems

Fractal and Fractional, 2022

Fast and strong interacting systems are hard to control from both performance and control effort ... more Fast and strong interacting systems are hard to control from both performance and control effort points of view. Moreover, multiple objective functions or objectives with various identifiers of varying weights can hold unfeasible solutions at times. A novel cost objective function is proposed here to overcome both feasibility set limitations and computational burdens. An application example is used to illustrate its added value, which is a fast and strong interacting multivariable system: a landscape office lighting regulatory problem. New lighting technology and an intelligent control system have been produced to improve control accuracy and reduce power consumption. While optimizing the hardware of the lighting system, the energy consumption can be further reduced by applying advanced control strategy in the lighting system. This paper designed a fractional order distributed model predictive control (FOMPC) scheme to realize the reference tracking and stability control of multiple...

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Performances and Stability Analysis of Networked Control Systems

The problem of performance and stability analysis of networked control systems with random networ... more The problem of performance and stability analysis of networked control systems with random network delay and data dropout is considered in this paper. A new control scheme is proposed to overcome the effects of network transmission delay and data dropout, which is termed networked predictive control. Two different ways to choose control input t u are discussed in the paper and the results of performances and stability are presented. Both real-time simulations and practical experiments show the effectiveness of the control scheme.

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Stochastic stability analysis of packet-based networked control systems

Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, 2009

By taking advantage of the packet-based transmission in networked control systems (NCSs), a packe... more By taking advantage of the packet-based transmission in networked control systems (NCSs), a packet-based control approach is proposed for NCSs. Using this approach, the control law can be designed with explicit compensation for networkinduced delay, data packet dropout and data packet disorder simultaneously. The sufficient and necessary condition for the stochastic stability of the closed-loop system is obtained, by modeling the closed-loop system as a Markov jump system. A numerical example is also considered to illustrate the effectiveness of the proposed approach.

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Multi-hop consensus for high-order integrator multi-agent systems

2017 11th Asian Control Conference (ASCC), 2017

This paper investigates consensus problems for high-order integrator multi-agent systems subjecte... more This paper investigates consensus problems for high-order integrator multi-agent systems subjected to constant network communication delay and fixed topology. A new protocol is proposed based on multi-hop relaying process. For the case without delay, the consensus protocol only requires the network connectivity condition, yet does not require the final consensus value to be constant. For the case with delay, a necessary and sufficient condition to reach consensus for the delay and connectivity is derived. Numerical examples are given to demonstrate the effectiveness of the theoretical results.

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Stability Analysis for Systems with Large Delay Period : A Switching Method

This paper studies an exponential stability problem for a class of timevarying delay systems with... more This paper studies an exponential stability problem for a class of timevarying delay systems with large delay period. The time-varying delay is interval-range. Although large delay period (LDP) is often present in practical control systems, the problems of stability analysis for such systems have been unsolved to date. In this paper, a new method based on switching technique is proposed to solve the case of LDP. It addresses how long and how frequent the LDP can be and still maintain the system exponentially stable. We first utilize switched delay systems, which may include an unstable subsystem, to model such a system. Then, the concepts of frequency and length rate of LDP are introduced. Next, based on a novel piecewise Lyapunov functional including the largedelay-integral terms (LDITs), sufficient conditions guaranteeing exponential stability are developed. Without LDP, the criterion obtained in this paper contains results already published as a special case. Two numerical exampl...

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Pinning-based Distributed Predictive Control of Secondary Voltage for an Islanded Microgrid

IFAC-PapersOnLine, 2020

In this study, a pinning-based distributed predictive control of secondary voltage is proposed fo... more In this study, a pinning-based distributed predictive control of secondary voltage is proposed for an autonomous microgrid (MG) with communication constraints. The proposed predictive control is fully distributed, which requires the information of each distributed generator (DG) on an islanded microgrid and that of its neighbors. In particular, the predictive control scheme can compensate for the communication constraints actively rather than passively. Moreover, it could reduce the computation burden of the controller owing to the developed pinning-based control scheme. It is worthwhile to mention that the purpose of voltage restoration based on distributed predictive control is achieved by minimization of the utility function, which not only ensures the feasibility of the control input but also restores the voltage of an autonomous microgrid to a prescribed level simultaneously through an introduction of tracking and coordination cost. Finally, simulation results are presented to validate the effectiveness of the proposed control methodology.

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Cost-Effective Server-side Re-deployment for Web-based Online Laboratories Using NGINX Reverse Proxy

IFAC-PapersOnLine, 2020

Web-based online laboratories are easy-access and non-intrusive for online experimentation, which... more Web-based online laboratories are easy-access and non-intrusive for online experimentation, which play a key role in online learning and distance education. For webbased online laboratories, the server-side deployment is vital to provide continuous and stable experimental services which are important features of online laboratories. This paper explores the re-deployment of two versions of a web-based online laboratory, the NCSLab system, with the leverage of the NGINX reverse proxy. With proper configuration, the deployed NGINX server enables a modular backend that can integrate different backend technologies such as Tomcat, PHP and file servers together. To support secure access, only one HTTPS certificate is required to be installed on the NGINX proxy server to support the two systems. The proposed methodology provides solutions for server re-deployment without the change of previous network topology. Moreover, the re-deployment is cost-effective for enabling the re-use of the previous domain name, standard HTTP and HTTPS ports as well as the HTTPS certificate.

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A real-time optimization control strategy for power management in fuel cell/battery hybrid power sources

Proceedings of 2012 UKACC International Conference on Control, 2012

The power management strategy can greatly affect the fuel economy of hybrid power systems. This w... more The power management strategy can greatly affect the fuel economy of hybrid power systems. This work presents an optimization based power management strategy of hybrid fuel cell power sources during real-time operation. In this approach, local optimization strategy is adopted because it doesn't need the priori knowledge of the future power demand. Every step, the current power demand is measured and the real-time optimal power distribution is determined by maximizing the efficiency of the hybrid system. Simulation and experimental results are presented to show that this real-time power management optimization strategy is feasible and can provide good fuel economy.

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Cloud-Based Time-Varying Formation Predictive Control of Multi-Agent Systems With Random Communication Constraints and Quantized Signals

IEEE Transactions on Circuits and Systems II: Express Briefs, 2021

This brief is concerned with the time-varying formation problem for second-order networked multi-... more This brief is concerned with the time-varying formation problem for second-order networked multi-agent systems, which are subject to random communication delays and packet dropouts in the sensor-to-controller and controller-to-actuator channels of each agent. A cloud-based time-varying formation predictive control method with control input quantization is proposed to actively compensate for those random communication constraints. A definition of quantized time-varying formation is given, and then a necessary and sufficient condition to achieve the quantized time-varying formation as well as the stability of the resulting closed-loop system is obtained, which is independent of random communication constraints and quantization errors. Simulation results are provided to verify the effectiveness of the proposed method.

Output feedback predictive control for discrete quasilinear systems with application to spacecraft flying‐around

Asian Journal of Control, 2021

This paper considers a spacecraft flying‐around problem modeled by discrete quasilinear system un... more This paper considers a spacecraft flying‐around problem modeled by discrete quasilinear system under sight coordinate, which can be regarded as an output tracking for discrete quasilinear system. An output feedback predictive control scheme is presented to deal with the flying‐around task. This scheme contains the design of output feedback and the optimization of tracking performance. On the one hand, the completely parametric form of output feedback based on generalized Sylvester equation is developed to stabilize the closed‐loop nominal system. On the other hand, a cost function, aimed to measure tracking performance, is optimized by the design of predictive control such that tracking performance is ensured. Further analysis proposes a necessary and sufficient condition based on Lyapunov method to maintain both bounded stability and tracking performance of the closed‐loop system caused by output feedback predictive control. Compared with the existing method, a numerical simulation...

Identification of Unknown Inertia Parameters of Spacecraft and Spacecraft Hovering

2021 40th Chinese Control Conference (CCC), 2021

It is necessary to know the inertia parameters of the spacecraft when the spacecraft attitude is ... more It is necessary to know the inertia parameters of the spacecraft when the spacecraft attitude is controlled accurately in space. So it is very important to identify the moment of inertia of the spacecraft. In this paper, the satellite simulator (air floating platform) is studied. When the actuator provides stable thrust, the angular velocity generated by the open-loop control is measured by the sensor, and the collected data is filtered and fused to obtain an accurate moment of inertia. The digital PID simulation was carried out recently. According to the controller used in the simulation, the satellite simulator physical experiment was carried out. The experimental results verified the accuracy of the identification of the moment of inertia.

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