5,673 research outputs found
Periodic event-triggered output regulation for linear multi-agent systems
This study considers the problem of periodic event-triggered (PET)
cooperative output regulation for a class of linear multi-agent systems. The
advantage of the PET output regulation is that the data transmission and
triggered condition are only needed to be monitored at discrete sampling
instants. It is assumed that only a small number of agents can have access to
the system matrix and states of the leader. Meanwhile, the PET mechanism is
considered not only in the communication between various agents, but also in
the sensor-to-controller and controller-to-actuator transmission channels for
each agent. The above problem set-up will bring some challenges to the
controller design and stability analysis. Based on a novel PET distributed
observer, a PET dynamic output feedback control method is developed for each
follower. Compared with the existing works, our method can naturally exclude
the Zeno behavior, and the inter-event time becomes multiples of the sampling
period. Furthermore, for every follower, the minimum inter-event time can be
determined \textit{a prior}, and computed directly without the knowledge of the
leader information. An example is given to verify and illustrate the
effectiveness of the new design scheme.Comment: 17 pages, 13 figures, submitted to Automatica. accepte
Event-triggering architectures for adaptive control of uncertain dynamical systems
In this dissertation, new approaches are presented for the design and implementation of networked adaptive control systems to reduce the wireless network utilization while guaranteeing system stability in the presence of system uncertainties. Specifically, the design and analysis of state feedback adaptive control systems over wireless networks using event-triggering control theory is first presented. The state feedback adaptive control results are then generalized to the output feedback case for dynamical systems with unmeasurable state vectors. This event-triggering approach is then adopted for large-scale uncertain dynamical systems. In particular, decentralized and distributed adaptive control methodologies are proposed with reduced wireless network utilization with stability guarantees.
In addition, for systems in the absence of uncertainties, a new observer-free output feedback cooperative control architecture is developed. Specifically, the proposed architecture is predicated on a nonminimal state-space realization that generates an expanded set of states only using the filtered input and filtered output and their derivatives for each vehicle, without the need for designing an observer for each vehicle. Building on the results of this new observer-free output feedback cooperative control architecture, an event-triggering methodology is next proposed for the output feedback cooperative control to schedule the exchanged output measurements information between the agents in order to reduce wireless network utilization. Finally, the output feedback cooperative control architecture is generalized to adaptive control for handling exogenous disturbances in the follower vehicles.
For each methodology, the closed-loop system stability properties are rigorously analyzed, the effect of the user-defined event-triggering thresholds and the controller design parameters on the overall system performance are characterized, and Zeno behavior is shown not to occur with the proposed algorithms --Abstract, page iv
Consensus Tracking for Multiagent Systems Under Bounded Unknown External Disturbances Using Sliding-PID Control
This paper is devoted to the study of consensus tracking for multiagent systems under unknown but bounded external disturbances. A consensus tracking protocol which is a combination between the conventional PID controller and sliding mode controller named sliding-PID protocol is proposed. The protocol is applied to the consensus tracking of multiagent system under bounded external disturbances where results showed high effectiveness and robustness
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