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

Sliding Mode Reference Coordination of Constrained Feedback Systems

[EN] This paper addresses the problem of coordinating dynamical systems with possibly different dynamics (e.g., linear and nonlinear, different orders, constraints, etc.) to achieve some desired collective behavior under the constraints and capabilities of each system. To this end, we develop a new methodology based on reference conditioning techniques using geometric set invariance and sliding mode control: the sliding mode reference coordination (SMRCoord). The main idea is to coordinate the systems references. Starting from a general framework, we propose two approaches: a local one through direct interactions between the different systems by sharing and conditioning their own references and a global centralized one, where a central node makes decisions using information coming from the systems references. In particular, in this work we focus in implementation on multivariable systems like unmanned aerial vehicles (UAVs) and robustness to external perturbations. To show the applicability of the approach, the problem of coordinating UAVs with input constraints is addressed as a particular case of multivariable reference coordination with both global and local configuration.Research in this area is partially supported by Argentine government (ANPCyT PICT 2011-0888 and CONICET PIP 112-2011-00361), Spanish government (FEDER-CICYT DPI2011-28112-C04-01), and Universitat Politecnica de Valencia (Grant FPI/2009-21)Vignoni, A.; Garelli, F.; Picó, J. (2013). Sliding Mode Reference Coordination of Constrained Feedback Systems. Mathematical Problems in Engineering. 2013:1-11. https://doi.org/10.1155/2013/764348S1112013Information consensus in multivehicle cooperative control. (2007). IEEE Control Systems, 27(2), 71-82. doi:10.1109/mcs.2007.338264Cao, Y., Yu, W., Ren, W., & Chen, G. (2013). An Overview of Recent Progress in the Study of Distributed Multi-Agent Coordination. 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IEEE Transactions on Cybernetics, 44(4), 526-538. doi:10.1109/tcyb.2013.2258910Nuñez, S., De Battista, H., Garelli, F., Vignoni, A., & Picó, J. (2013). Second-order sliding mode observer for multiple kinetic rates estimation in bioprocesses. Control Engineering Practice, 21(9), 1259-1265. doi:10.1016/j.conengprac.2013.03.003Wu, L., Su, X., & Shi, P. (2012). Sliding mode control with bounded gain performance of Markovian jump singular time-delay systems. Automatica, 48(8), 1929-1933. doi:10.1016/j.automatica.2012.05.064Cao, Y., Ren, W., & Meng, Z. (2010). Decentralized finite-time sliding mode estimators and their applications in decentralized finite-time formation tracking. Systems & Control Letters, 59(9), 522-529. doi:10.1016/j.sysconle.2010.06.002Cortés, J. (2006). Finite-time convergent gradient flows with applications to network consensus. Automatica, 42(11), 1993-2000. doi:10.1016/j.automatica.2006.06.015Rao, S., & Ghose, D. (2011). 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Time-and event-driven communication process for networked control systems: A survey

Copyright © 2014 Lei Zou et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.In recent years, theoretical and practical research topics on networked control systems (NCSs) have gained an increasing interest from many researchers in a variety of disciplines owing to the extensive applications of NCSs in practice. In particular, an urgent need has arisen to understand the effects of communication processes on system performances. Sampling and protocol are two fundamental aspects of a communication process which have attracted a great deal of research attention. Most research focus has been on the analysis and control of dynamical behaviors under certain sampling procedures and communication protocols. In this paper, we aim to survey some recent advances on the analysis and synthesis issues of NCSs with different sampling procedures (time-and event-driven sampling) and protocols (static and dynamic protocols). First, these sampling procedures and protocols are introduced in detail according to their engineering backgrounds as well as dynamic natures. Then, the developments of the stabilization, control, and filtering problems are systematically reviewed and discussed in great detail. Finally, we conclude the paper by outlining future research challenges for analysis and synthesis problems of NCSs with different communication processes.This work was supported in part by the National Natural Science Foundation of China under Grants 61329301, 61374127, and 61374010, the Royal Society of the UK, and the Alexander von Humboldt Foundation of Germany