7,662 research outputs found
Distributed Adaptive Consensus Control of High Order Unknown Nonlinear Networked Systems with Guaranteed Performance
Adaptive cooperative tracking control with prescribed performance function
(PPF) is proposed for high-order nonlinear multi-agent systems. The tracking
error originally within a known large set is confined to a smaller predefined
set using this approach. Using output error transformation, the constrained
system is relaxed and mapped to an unconstrained one. The controller is
conceived under the assumption that the agents' nonlinear dynamics are unknown
and the perceived network is structured and strongly connected. Under the
proposed controller, all agents track the trajectory of the leader node with
guaranteed uniform ultimately bounded transformed error and bounded adaptive
estimate of unknown parameters and dynamics. In addition, the proposed
controllers with PPF are distributed such that each follower agent requires
information between its own state relative to connected neighbors. Proposed
controller is validated for robustness and smoothness using highly nonlinear
heterogeneous networked system with uncertain time-varying parameters and
external disturbances. Index Terms: Prescribed performance, neuro-adaptive,
high order, Transformed error, Multi-agents, Distributed control, Consensus,
Synchronization, Transient, Steady-state error, MIMO, SISO
Bio-Inspired Adaptive Cooperative Control of Heterogeneous Robotic Networks
We introduce a new adaptive cooperative control strategy for robotic networks comprised of heterogeneous members. The proposed feedback synchronization exploits an active parameter adaptation strategy as opposed to adaptive parameter estimation of adaptive control theory. Multiple heterogeneous robots or vehicles can coordinate their motions by parameter adaptation analogous to bio-genetic mutation and adaptation. In contrast with fixed gains used by consensus theory, both the tracking control and diffusive coupling gains are automatically computed based on the adaptation law, the synchronization errors, and the tracking errors of heterogeneous robots. The optimality of the proposed adaptive cooperative control is studied via inverse optimal control theory. The proposed adaptive
cooperative control can be applied to any network structure. The stability proof, by using a relatively new nonlinear stability tool, contraction theory, shows globally asymptotically synchronized motion of a heterogeneous robotic network. This adaptive cooperative control can be widely applied to cooperative control of unmanned aerial vehicles (UAVs), formation flying spacecraft, and multi-robot systems. Results of the simulation show the effectiveness of the proposed adaptive cooperative control laws especially for a network comprised of heterogeneous members
Bio-Inspired Adaptive Cooperative Control of Heterogeneous Robotic Networks
We introduce a new adaptive cooperative control strategy for robotic networks comprised of heterogeneous members. The proposed feedback synchronization exploits an active parameter adaptation strategy as opposed to adaptive parameter estimation of adaptive control theory. Multiple heterogeneous robots or vehicles can coordinate their motions by parameter adaptation analogous to bio-genetic mutation and adaptation. In contrast with fixed gains used by consensus theory, both the tracking control and diffusive coupling gains are automatically computed based on the adaptation law, the synchronization errors, and the tracking errors of heterogeneous robots. The optimality of the proposed adaptive cooperative control is studied via inverse optimal control theory. The proposed adaptive
cooperative control can be applied to any network structure. The stability proof, by using a relatively new nonlinear stability tool, contraction theory, shows globally asymptotically synchronized motion of a heterogeneous robotic network. This adaptive cooperative control can be widely applied to cooperative control of unmanned aerial vehicles (UAVs), formation flying spacecraft, and multi-robot systems. Results of the simulation show the effectiveness of the proposed adaptive cooperative control laws especially for a network comprised of heterogeneous members
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
Simple synchronization protocols for heterogeneous networks: beyond passivity (extended version)
Synchronization among autonomous agents via local interactions is one of the
benchmark problems in multi-agent control. Whereas synchronization algorithms
for identical agents have been thoroughly studied, synchronization of
heterogeneous networks still remains a challenging problem. The existing
algorithms primarily use the internal model principle, assigning to each agent
a local copy of some dynamical system (internal model). Synchronization of
heterogeneous agents thus reduces to global synchronization of identical
generators and local synchronization between the agents and their internal
models. The internal model approach imposes a number of restrictions and leads
to sophisticated dynamical (and, in general, nonlinear) controllers. At the
same time, passive heterogeneous agents can be synchronized by a very simple
linear protocol, which is used for consensus of first-order integrators. A
natural question arises whether analogous algorithms are applicable to
synchronization of agents that do not satisfy the passivity condition. In this
paper, we study the synchronization problem for heterogeneous agents that are
not passive but satisfy a weaker input feedforward passivity (IFP) condition.
We show that such agents can also be synchronized by a simple linear protocol,
provided that the interaction graph is strongly connected and the couplings are
sufficiently weak. We demonstrate how stability of cooperative adaptive cruise
control algorithms and some microscopic traffic flow models reduce to
synchronization of heterogeneous IFP agents.Comment: accepted to IFAC World Congres
A hybrid approach for cooperative output regulation with sampled compensator
This work investigates the cooperative output regulation problem of linear
multi-agent systems with hybrid sampled data control. Due to the limited data
sensing and communication, in many practical situations, only sampled data are
available for the cooperation of multi-agent systems. To overcome this problem,
a distributed hybrid controller is presented for the cooperative output
regulation, and cooperative output regulation is achieved by well designed
state feedback law. Then it proposed a method for the designing of sampled data
controller to solve the cooperative output regulation problem with continuous
linear systems and discrete-time communication data. Finally, numerical
simulation example for cooperative tracking and a simulation example for
optimal control of micro-grids are proposed to illustrate the result of the
sampled data control law
Coordination of Multi-Agent Systems under Switching Topologies via Disturbance Observer Based Approach
In this paper, a leader-following coordination problem of heterogeneous
multi-agent systems is considered under switching topologies where each agent
is subject to some local (unbounded) disturbances. While these unknown
disturbances may disrupt the performance of agents, a disturbance observer
based approach is employed to estimate and reject them. Varying communication
topologies are also taken into consideration, and their byproduct difficulties
are overcome by using common Lyapunov function techniques. According to the
available information in difference cases, two disturbance observer based
protocols are proposed to solve this problem. Their effectiveness is verified
by simulations.Comment: 12 pages, 4 figures, 2 table
Small noise may diversify collective motion in Vicsek model
Natural systems are inextricably affected by noise. Within recent decades,
the manner in which noise affects the collective behavior of self-organized
systems, specifically, has garnered considerable interest from researchers and
developers in various fields. To describe the collective motion of multiple
interacting particles, Vicsek et al. proposed a well-known self-propelled
particle (SPP) system, which exhibits a second-order phase transition from
disordered to ordered motion in simulation; due to its non-equilibrium,
randomness, and strong coupling nonlinear dynamics, however, there has been no
rigorous analysis of such a system to date. To decouple systems consisting of
deterministic laws and randomness, we propose a general method which transfers
the analysis of these systems to the design of cooperative control algorithms.
In this study, we rigorously analyzed the original Vicsek model under both open
and periodic boundary conditions for the first time, and developed extensions
to heterogeneous SPP systems (including leaderfollower models) using the
proposed method. Theoretical results show that SPP systems switch an infinite
number of times between ordered and disordered states for any noise intensity
and population density, which implies that the phase transition indeed takes a
nontraditional form. We also investigated the robust consensus and connectivity
of these systems. Moreover, the findings presented in this paper suggest that
our method can be used to predict possible configurations during the evolution
of complex systems, including turn, vortex, bifurcation and flock merger
phenomena as they appear in SPP systems
Nonlinear Consensus Strategies for Multi-Agent Networks in Presence of Communication Delays and Switching Topologies: Real-Time Receding Horizon Approach
This paper presents a novel framework which combines a non-iterative solution
of Real-Time Nonlinear Receding Horizon Control (NRHC) methodology to achieve
consensus within complex network topologies with existing time-delays and in
presence of switching topologies. In this formulation, we solve the distributed
nonlinear optimization problem for multi-agent network systems directly,
\emph{in real-time}, without any dependency on iterative processes, where the
stability and convergence guarantees are provided for the solution. Three
benchmark examples on non-linear chaotic systems provide validated results
which demonstrate the significant outcomes of such methodology.Comment: 26 pages, 8 figures (under review). arXiv admin note: substantial
text overlap with arXiv:1510.0779
Distributed PID Control for Consensus of Homogeneous and Heterogeneous Networks
We investigate the use of distributed PID actions to achieve consensus in
networks of homogeneous and heterogeneous linear systems. Convergence of the
strategy is proved for both cases using appropriate state transformations and
Lyapunov functions. The effectiveness of the theoretical results is illustrated
via its application to a representative power grid model recently presented in
the literature.Comment: 10 pages, 7 Figures, Accepted for Publication in IEEE Transactions on
Control of Network System
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