10,000 research outputs found
Observer-Based Distributed Leader-Follower Tracking Control: A New Perspective and Results
Leader-follower tracking control design has received significant attention in
recent years due to its important and wide applications. Considering a
multi-agent system composed of a leader and multiple followers, this paper
proposes and investigates a new perspective into this problem: can we enable a
follower to estimate the leader's driving input and leverage this idea to
develop new observer-based tracking control approaches? With this motivation,
we develop an input-observer-based leader-follower tracking control framework,
which features distributed input observers that allow a follower to locally
estimate the leader's input toward enhancing tracking control. This work first
studies the first-order tracking problem. It then extends to the more
sophisticated case of second-order tracking and considers a challenging
situation when the leader's and followers' velocities are not measured. The
proposed approaches exhibit interesting and useful advantages as revealed by a
comparison with the literature. Convergence properties of the proposed
approaches are rigorously analyzed. Simulation results further illustrate the
efficacy of the proposed perspective, framework and approaches.Comment: International Journal of Control 201
Strategic Topology Switching for Security-Part II: Detection & Switching Topologies
This two-part paper considers strategic topology switching for security in
the second-order multi-agent system. In Part II, we propose a strategy on
switching topologies to detect zero-dynamics attack (ZDA), whose
attack-starting time is allowed to be not the initial time. We first
characterize the sufficient and necessary condition for detectability of ZDA,
in terms of the network topologies to be switched to and the set of agents to
be monitored. We then propose an attack detection algorithm based on the
Luenberger observer, using the characterized detectability condition. Employing
the strategy on switching times proposed in Part I and the strategy on
switching topologies proposed here, a strategic topology-switching algorithm is
derived. Its primary advantages are threefold: (i) in achieving consensus in
the absence of attacks, the control protocol does not need velocity
measurements and the algorithm has no constraint on the magnitudes of coupling
weights; (ii) in tracking system in the absence of attacks, the Luenberger
observer has no constraint on the magnitudes of observer gains and the number
of monitored agents, i.e., only one monitored agent's output is sufficient;
(iii) in detecting ZDA, the algorithm allows the defender to have no knowledge
of the attack-starting time and the number of misbehaving agents (i.e., agents
under attack). Simulations are provided to verify the effectiveness of the
strategic topology-switching algorithm.Comment: working paper, 12 pages, second part of a two-part pape
A New Encounter Between Leader-Follower Tracking and Observer-Based Control: Towards Enhancing Robustness against Disturbances
This paper studies robust tracking control for a leader-follower multi-agent
system (MAS) subject to disturbances. A challenging problem is considered here,
which differs from those in the literature in two aspects. First, we consider
the case when all the leader and follower agents are affected by disturbances,
while the existing studies assume only the followers to suffer disturbances.
Second, we assume the disturbances to be bounded only in rates of change rather
than magnitude as in the literature. To address this new problem, we propose a
novel observer-based distributed tracking control design. As a distinguishing
feature, the followers can cooperatively estimate the disturbance affecting the
leader to adjust their maneuvers accordingly, which is enabled by the design of
the first-of-its-kind distributed disturbance observers. We build specific
tracking control approaches for both first- and second-order MASs and prove
that they can lead to bounded-error tracking, despite the challenges due to the
relaxed assumptions about disturbances. We further perform simulation to
validate the proposed approaches
Global Finite-Time Attitude Consensus of Leader-Following Spacecraft Systems Based on Distributed Observers
This paper addresses the leader-following attitude consensus problem for a
group of spacecraft when at least one follower can access the leader's attitude
and velocity relative to the inertial space. A nonlinear distributed observer
is designed to estimate the leader's states for each follower. The observer
possesses one important and novel feature of keeping attitude and angular
velocity estimation errors on second-order sliding modes, and thus provides
finite-time convergent estimates for each follower. Further, quaternion-based
hybrid homogeneous controllers recently developed for single spacecraft are
extended and then applied, by establishing a separation principle with the
proposed observer, to track the leader's attitude motion. As a result, global
finite-time attitude consensus is achieved on the entire attitude manifold,
with either full-state measurements or attitude-only measurements, as long as
the network topology among the followers is undirected and connected. Numerical
simulations are presented to demonstrate the performance of the proposed
methods.Comment: 13 pages, 12 figure
Containment Control of Second-order Multi-agent Systems Under Directed Graphs and Communication Constraints
The distributed coordination problem of multi-agent systems is addressed in
this paper under the assumption of intermittent communication between agents in
the presence of time-varying communication delays. Specifically, we consider
the containment control problem of second-order multi-agent systems with
multiple dynamic leaders under a directed interconnection graph topology. Also,
communication between agents is performed only at some discrete instants of
time in the presence of irregular communication delays and packet dropout.
First, we present distributed control algorithms for double integrator dynamics
in the full and partial state feedback cases. Then, we propose a method to
extend our results to second-order systems with locally Lipschitz nonlinear
dynamics. In both cases, we show that the proposed approach leads to our
control objectives under sufficient conditions relating the characteristics of
the communication process and the control gains. We also show that our approach
can be applied to solve various similar coordination problems in multi-agent
systems under the same communication constraints. The effectiveness of the
proposed control schemes is illustrated through some examples and numerical
simulations.Comment: Modified version. Paper submitted for publicatio
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
A unified framework of fully distributed adaptive output time-varying formation control for linear multi-agent systems: an observer viewpoint
This paper presents a unified framework of time-varying formation (TVF)
design for general linear multi-agent systems (MAS) based on an observer
viewpoint from undirected to directed topology, from stabilization to tracking
and from a leader without input to a one with bounded input. The followers can
form a TVF shape which is specified by piecewise continuously differential
vectors. The leader's trajectory, which is available to only a subset of
followers, is also time-varying. For the undirected formation tracking and
directed formation stabilization cases, only the relative output measurements
of neighbors are required to design control protocols; for the directed
formation tracking case, the agents need to be introspective (i.e. agents have
partial knowledge of their own states) and the output measurements are
required. Furthermore, considering the real applications, the leader with
bounded input case is studied. One main contribution of this paper is that
fully distributed adaptive output protocols, which require no global
information of communication topology and do not need the absolute or relative
state information, are proposed to solve the TVF control problem. Numerical
simulations including an application to nonholonomic mobile vehicles are
provided to verify the theoretical results.Comment: 21 page
Connectivity-Preserving Coordination Control of Multi-Agent Systems with Time-Varying Delays
This paper presents a distributed position synchronization strategy that also
preserves the initial communication links for single-integrator multi-agent
systems with time-varying delays. The strategy employs a coordinating
proportional control derived from a specific type of potential energy,
augmented with damping injected through a dynamic filter. The injected damping
maintains all agents within the communication distances of their neighbours,
and asymptotically stabilizes the multi-agent system, in the presence of time
delays. Regarding the closed-loop single-integrator multi-agent system as a
double-integrator system suggests an extension of the proposed strategy to
connectivity-preserving coordination of Euler-Lagrange networks with
time-varying delays. Lyapunov stability analysis and simulation results
validate the two designs
Fault Tolerant Control for Networked Mobile Robots
Teams of networked autonomous agents have been used in a number of
applications, such as mobile sensor networks and intelligent transportation
systems. However, in such systems, the effect of faults and errors in one or
more of the sub-systems can easily spread throughout the network, quickly
degrading the performance of the entire system. In consensus-driven dynamics,
the effects of faults are particularly relevant because of the presence of
unconstrained rigid modes in the transfer function of the system. Here, we
propose a two-stage technique for the identification and accommodation of a
biased-measurements agent, in a network of mobile robots with time invariant
interaction topology. We assume these interactions to only take place in the
form of relative position measurements. A fault identification filter deployed
on a single observer agent is used to estimate a single fault occurring
anywhere in the network. Once the fault is detected, an optimal leader-based
accommodation strategy is initiated. Results are presented by means of
numerical simulations and robot experiments.Comment: 7 pages, 7 figures, conferenc
Analytical SLAM Without Linearization
This paper solves the classical problem of simultaneous localization and
mapping (SLAM) in a fashion which avoids linearized approximations altogether.
Based on creating virtual synthetic measurements, the algorithm uses a linear
time- varying (LTV) Kalman observer, bypassing errors and approximations
brought by the linearization process in traditional extended Kalman filtering
(EKF) SLAM. Convergence rates of the algorithm are established using
contraction analysis. Different combinations of sensor information can be
exploited, such as bearing measurements, range measurements, optical flow, or
time-to-contact. As illustrated in simulations, the proposed algorithm can
solve SLAM problems in both 2D and 3D scenarios with guaranteed convergence
rates in a full nonlinear context
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