8,235 research outputs found
Consensus tracking in multi agent system with nonlinear and non identical dynamics via event driven sliding modes
In this work, leader follower consensus objective has been addressed with the
synthesis of an event based controller utilizing sliding mode robust control.
The schema has been partitioned into two parts viz. finite time consensus
problem and event triggered control mechanism. A nonlinear multi agent system
with non identical dynamics has been put forward to illustrate the robust
capabilities of the proposed control. The first part incorporates matching of
states of the followers with those of the leader via consensus tracking
algorithm. In the subsequent part, an event triggered rule is devised to save
computational power and restrict periodic updating of the controller involved
while ensuring desired closed loop performance of the system. Switching of the
event based controller is achieved via sliding mode control. Advantage of using
switched controller like sliding mode is that it retains its inherent
robustness as well as event triggering approach aids in saving energy
expenditure. Efficacy of the proposed scheme is confirmed via numerical
simulations.Comment: preprint, "IEEE Transactions on Automatic Control
Distributed Average Tracking for Multiple Signals Generated by Linear Dynamical Systems: An Edge-based Framework
This paper studies the distributed average tracking problem for multiple
time-varying signals generated by linear dynamics, whose reference inputs are
nonzero and not available to any agent in the network. In the edge-based
framework, a pair of continuous algorithms with, respectively, static and
adaptive coupling strengths are designed. Based on the boundary layer concept,
the proposed continuous algorithm with static coupling strengths can
asymptotically track the average of multiple reference signals without the
chattering phenomenon. Furthermore, for the case of algorithms with adaptive
coupling strengths, average tracking errors are uniformly ultimately bounded
and exponentially converge to a small adjustable bounded set. Finally, a
simulation example is presented to show the validity of theoretical results.Comment: accepted in press, Automatica 2016. arXiv admin note: substantial
text overlap with arXiv:1312.744
Distributed Average Tracking for Lipschitz-Type Nonlinear Dynamical Systems
In this paper, a distributed average tracking problem is studied for
Lipschitz-type nonlinear dynamical systems. The objective is to design
distributed average tracking algorithms for locally interactive agents to track
the average of multiple reference signals. Here, in both the agents' and the
reference signals' dynamics, there is a nonlinear term satisfying the
Lipschitz-type condition. Three types of distributed average tracking
algorithms are designed. First, based on state-dependent-gain designing
approaches, a robust distributed average tracking algorithm is developed to
solve distributed average tracking problems without requiring the same initial
condition. Second, by using a gain adaption scheme, an adaptive distributed
average tracking algorithm is proposed in this paper to remove the requirement
that the Lipschitz constant is known for agents. Third, to reduce chattering
and make the algorithms easier to implement, a continuous distributed average
tracking algorithm based on a time-varying boundary layer is further designed
as a continuous approximation of the previous discontinuous distributed average
tracking algorithms
Cooperative Global Robust Output Regulation for a Class of Nonlinear Multi-Agent Systems by Distributed Event-Triggered Control
This paper studies the event-triggered cooperative global robust output
regulation problem for a class of nonlinear multi-agent systems via a
distributed internal model design. We show that our problem can be solved
practically in the sense that the ultimate bound of the tracking error can be
made arbitrarily small by adjusting a design parameter in the proposed
event-triggered mechanism. Our result offers a few new features. First, our
control law is robust against both external disturbances and parameter
uncertainties, which are allowed to belong to some arbitrarily large prescribed
compact sets. Second, the nonlinear functions in our system do not need to
satisfy the global Lipchitz condition. Thus our systems are general enough to
include some benchmark nonlinear systems that cannot be handled by existing
approaches. Finally, our control law is a specific distributed output-based
event-triggered control law, which lends itself to a direct digital
implementation.Comment: This paper has been submitted to a journal on July 17, 201
On finite-time and fixed-time consensus algorithms for dynamic networks switching among disconnected digraphs
The aim of this paper is to analyze a class of consensus algorithms with
finite-time or fixed-time convergence for dynamic networks formed by agents
with first-order dynamics. In particular, in the analyzed class a single
evaluation of a nonlinear function of the consensus error is performed per each
node. The classical assumption of switching among connected graphs is dropped
here, allowing to represent failures and intermittent communications between
agents. Thus, conditions to guarantee finite and fixed-time convergence, even
while switching among disconnected graphs, are provided. Moreover, the
algorithms of the considered class are shown to be computationally simpler than
previously proposed finite-time consensus algorithms for dynamic networks,
which is an important feature in scenarios with computationally limited nodes
and energy efficiency requirements such as in sensor networks. The performance
of the considered consensus algorithms is illustrated through simulations,
comparing it to existing approaches for dynamic networks with finite-time and
fixed-time convergence. It is shown that the settling time of the considered
algorithms grows slower when the number of nodes increases than with other
consensus algorithms for dynamic networks
Event-Triggered Cooperative Robust Practical Output Regulation for a Class of Linear Multi-Agent Systems
In this paper, we consider the event-triggered cooperative robust practical
output regulation problem for a class of linear minimum-phase multi-agent
systems. We first convert our problem into the cooperative robust practical
stabilization problem of a well defined augmented system Based on the
distributed internal model approach. Then, we design a distributed
event-triggered output feedback control law together with a distributed
output-based event-triggered mechanism to stabilize the augmented system, which
leads to the solvability of the cooperative robust practical output regulation
problem of the original plant. Our distributed control law can be directly
implemented in a digital platform provided that the distributed triggering
mechanism can monitor the continuous-time output information from neighboring
agents. Finally, we illustrate our design by an example.Comment: This paper has been accepted for publication in Automatica on May 21,
201
Fixed-time consensus of multiple double-integrator systems under directed topologies: A motion-planning approach
This paper investigates the fixed-time consensus problem under directed
topologies. By using a motion-planning approach, a class of distributed
fixed-time algorithms are developed for a multi-agent system with
double-integrator dynamics. In the context of the fixed-time consensus, we
focus on both directed fixed and switching topologies. Under the directed fixed
topology, a novel class of distributed algorithms are designed, which guarantee
the consensus of the multi-agent system with a fixed settling time if the
topology has a directed spanning tree. Under the directed periodically
switching topologies, the fixedtime consensus is solved via the proposed
algorithms if the topologies jointly have a directed spanning tree. In
particular, the fixed settling time can be off-line pre-assigned according to
task requirements. Compared with the existing results, to our best knowledge,
it is the first time to solve the fixed-time consensus problem for
double-integrator systems under directed topologies. Finally, a numerical
example is given to illustrate the effectiveness of the analytical results
Multi-Agent Distributed Coordination Control: Developments and Directions
In this paper, the recent developments on distributed coordination control,
especially the consensus and formation control, are summarized with the graph
theory playing a central role, in order to present a cohesive overview of the
multi-agent distributed coordination control, together with brief reviews of
some closely related issues including rendezvous/alignment, swarming/flocking
and containment control.In terms of the consensus problem, the recent results
on consensus for the agents with different dynamics from first-order,
second-order to high-order linear and nonlinear dynamics, under different
communication conditions, such as cases with/without switching communication
topology and varying time-delays, are reviewed, in which the algebraic graph
theory is very useful in the protocol designs, stability proofs and converging
analysis. In terms of the formation control problem, after reviewing the
results of the algebraic graph theory employed in the formation control, we
mainly pay attention to the developments of the rigid and persistent graphs.
With the notions of rigidity and persistence, the formation transformation,
splitting and reconstruction can be completed, and consequently the range-based
formation control laws are designed with the least required information in
order to maintain a formation rigid/persistent. Afterwards, the recent results
on rendezvous/alignment, swarming/flocking and containment control, which are
very closely related to consensus and formation control, are briefly
introduced, in order to present an integrated view of the graph theory used in
the coordination control problem. Finally, towards the practical applications,
some directions possibly deserving investigation in coordination control are
raised as well.Comment: 28 pages, 8 figure
Designing Distributed Fixed-Time Consensus Protocols for Linear Multi-Agent Systems Over Directed Graphs
This technical note addresses the distributed fixed-time consensus protocol
design problem for multi-agent systems with general linear dynamics over
directed communication graphs. By using motion planning approaches, a class of
distributed fixed-time consensus algorithms are developed, which rely only on
the sampling information at some sampling instants. For linear multi-agent
systems, the proposed algorithms solve the fixed-time consensus problem for any
directed graph containing a directed spanning tree. In particular, the settling
time can be off-line pre-assigned according to task requirements. Compared with
the existing results for multi-agent systems, to our best knowledge, it is the
first-time to solve fixed-time consensus problems for general linear
multi-agent systems over directed graphs having a directed spanning tree.
Extensions to the fixed-time formation flying are further studied for multiple
satellites described by Hill equations
On the Synchronization of Second-Order Nonlinear Systems with Communication Constraints
This paper studies the synchronization problem of second-order nonlinear
multi-agent systems with intermittent communication in the presence of
irregular communication delays and possible information loss. The control
objective is to steer all systems' positions to a common position with a
prescribed desired velocity available to only some leaders. Based on the
small-gain framework, we propose a synchronization scheme relying on an
intermittent information exchange protocol in the presence of time delays and
possible packet dropout. We show that our control objectives are achieved with
a simple selection of the control gains provided that the directed graph,
describing the interconnection between all systems (or agents), contains a
spanning tree. The example of Euler-Lagrange systems is considered to
illustrate the application and effectiveness of the proposed approach.Comment: 21 pages, 8 figures. Submitted for journal publicatio
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