3,211 research outputs found
Output consensus of nonlinear multi-agent systems with unknown control directions
In this paper, we consider an output consensus problem for a general class of
nonlinear multi-agent systems without a prior knowledge of the agents' control
directions. Two distributed Nussbaumtype control laws are proposed to solve the
leaderless and leader-following adaptive consensus for heterogeneous multiple
agents. Examples and simulations are given to verify their effectivenessComment: 10 pages;2 figure
Distributed Control of Multi-agent Systems with Unknown Time-varying Gains: A Novel Indirect Framework for Prescribed Performance
In this paper, a new yet indirect performance guaranteed framework is
established to address the distributed tracking control problem for networked
uncertain nonlinear strict-feedback systems with unknown time-varying gains
under a directed interaction topology. The proposed framework involves two
steps: In the first one, a fully distributed robust filter is constructed to
estimate the desired trajectory for each agent with guaranteed observation
performance that allows the directions among the agents to be non-identical. In
the second one, by establishing a novel lemma regarding Nussbaum function, a
new adaptive control protocol is developed for each agent based on backstepping
technique, which not only steers the output to asymptotically track the
corresponding estimated signal with arbitrarily prescribed transient
performance, but also largely extends the scope of application since the
unknown control gains are allowed to be time-varying and even state-dependent.
In such an indirect way, the underlying problem is tackled with the output
tracking error converging into an arbitrarily pre-assigned residual set
exhibiting an arbitrarily pre-defined convergence rate. Besides, all the
internal signals are ensured to be semi-globally ultimately uniformly bounded
(SGUUB). Finally, simulation results are provided to illustrate the
effectiveness of the co-designed scheme
H-2 suboptimal output synchronization of heterogeneous multi-agent systems
This paper deals with the H2 suboptimal output synchronization problem for
heterogeneous linear multi-agent systems. Given a multi-agent system with
possibly distinct agents and an associated H2 cost functional, the aim is to
design output feedback based protocols that guarantee the associated cost to be
smaller than a given upper bound while the controlled network achieves output
synchronization. A design method is provided to compute such protocols. For
each agent, the computation of its two local control gains involves two Riccati
inequalities, each of dimension equal to the state space dimension of the
agent. A simulation example is provided to illustrate the performance of the
proposed protocols.Comment: 9 pages, 2 figures. arXiv admin note: text overlap with
arXiv:2001.0759
Control Theory in Engineering
The subject matter of this book ranges from new control design methods to control theory applications in electrical and mechanical engineering and computers. The book covers certain aspects of control theory, including new methodologies, techniques, and applications. It promotes control theory in practical applications of these engineering domains and shows the way to disseminate researchers’ contributions in the field. This project presents applications that improve the properties and performance of control systems in analysis and design using a higher technical level of scientific attainment. The authors have included worked examples and case studies resulting from their research in the field. Readers will benefit from new solutions and answers to questions related to the emerging realm of control theory in engineering applications and its implementation
Robust Observation and Control of Complex Networks
The problem of understanding when individual actions of interacting agents display to a coordinated collective behavior has receiving a considerable attention in many research fields. Especially in control engineering, distributed applications in cooperative environments
are achieving resounding success, due to the large number of relevant applications, such as formation control, attitude synchronization tasks and cooperative applications in large-scale systems.
Although those problems have been extensively studied in Literature, themost of classic approaches use to consider the unrealistic scenario in which networks always consist of
identical, linear, time-invariant entities. It’s clear that this assumption strongly approximates the effective behavior of a network. In fact agents can be subjected to parameter uncertainties,
unmodeled dynamics or simply characterized by proper nonlinear dynamics.
Therefore, motivated by those practical problems, the present Thesis proposes various approaches for dealing with the problem of observation and control in both the framework
of multi-agents and complex interconnected systems. The main contributions of this Thesis consist on the development of several algorithms based on concepts of discontinuous slidingmode control. This techniques can be employed for solving in finite-time problems of robust
state estimation and consensus-based synchronization in network of heterogenous nonlinear systems subjected to unknown but bounded disturbances and sudden topological changes.
Both directed and undirected topologies have been taken into account. It is worth to mention also the extension of the consensus problem to networks of agents governed by a class parabolic partial differential equation, for which, for the first time, a boundary-based robust local interaction protocol has been presented
Robust Observation and Control of Complex Networks
The problem of understanding when individual actions of interacting agents display to a coordinated collective behavior has receiving a considerable attention in many research fields. Especially in control engineering, distributed applications in cooperative environments
are achieving resounding success, due to the large number of relevant applications, such as formation control, attitude synchronization tasks and cooperative applications in large-scale systems.
Although those problems have been extensively studied in Literature, themost of classic approaches use to consider the unrealistic scenario in which networks always consist of
identical, linear, time-invariant entities. It’s clear that this assumption strongly approximates the effective behavior of a network. In fact agents can be subjected to parameter uncertainties,
unmodeled dynamics or simply characterized by proper nonlinear dynamics.
Therefore, motivated by those practical problems, the present Thesis proposes various approaches for dealing with the problem of observation and control in both the framework
of multi-agents and complex interconnected systems. The main contributions of this Thesis consist on the development of several algorithms based on concepts of discontinuous slidingmode control. This techniques can be employed for solving in finite-time problems of robust
state estimation and consensus-based synchronization in network of heterogenous nonlinear systems subjected to unknown but bounded disturbances and sudden topological changes.
Both directed and undirected topologies have been taken into account. It is worth to mention also the extension of the consensus problem to networks of agents governed by a class parabolic partial differential equation, for which, for the first time, a boundary-based robust local interaction protocol has been presented
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