4 research outputs found
Fully Distributed Adaptive Controllers for Cooperative Output Regulation of Heterogeneous Linear Multi-agent Systems with Directed Graphs
This paper considers the cooperative output regulation problem for linear
multi-agent systems with a directed communication graph, heterogeneous linear
subsystems, and an exosystem whose output is available to only a subset of
subsystems. Both the cases with nominal and uncertain linear subsystems are
studied. For the case with nominal linear subsystems, a distributed adaptive
observer-based controller is designed, where the distributed adaptive observer
is implemented for the subsystems to estimate the exogenous signal. For the
case with uncertain linear subsystems, the proposed distributed observer and
the internal model principle are combined to solve the robust cooperative
output regulation problem. Compared with the existing works, one main
contribution of this paper is that the proposed control schemes can be designed
and implemented by each subsystem in a fully distributed fashion for general
directed graphs. For the special case with undirected graphs, a distributed
output feedback control law is further presented.Comment: 8 pages, 2 figures. submitted for publicatio
Multi-AUV Cooperative Target Hunting based on Improved Potential Field in a Surface-Water Environment
In this paper, target hunting aims to detect target and surround the detected target in a surface-water using Multiple Autonomous Underwater Vehicles (multi-AUV) in a given area. The main challenge in multi-AUV target hunting is the design of AUV\u27s motion path and coordination mechanism. To conduct the cooperative target hunting by multi-AUV in a surface-water environment, an integrated algorithm based on improved potential field (IPF) is proposed. First, a potential field function is established according to the information of the surface-water environment. Then, the dispersion degree, the homodromous degree, and district-difference degree are introduced to increase the cooperation of the multi-AUV system. Finally, the target hunting is solved by embedding the three kinds of degree into the potential field function. The simulation results show that the proposed approach is applicable and feasible for multi-AUV cooperative target hunting
Coordination for linear multiagent systems with dynamic interaction topology in the leader-following framework
This paper considers mainly the leader-following consensus for multiple agents with general linear system dynamics under switching topologies. Three different settings are systematically considered. We first consider the setting that the underlying inter