Scale-free Design for Delayed Regulated Synchronization of Homogeneous and Heterogeneous Discrete-time Multi-agent Systems Subject to Unknown Non-uniform and Arbitrarily Large Communication Delays

In this paper, we study delayed regulated state/output synchronization for discrete-time homogeneous and heterogeneous networks of multi-agent systems (MAS) subject to unknown, non-uniform and arbitrarily large communication delays. A delay transformation is utilized to transform the original MAS to a new system without delayed states. The proposed scale-free dynamic protocols are developed solely based on agent models and localized information exchange with neighbors such that we do not need any information about the communication networks and the number of agents.Comment: 18 pages, 10 figures, a short version of this paper will be submitted to ACC 2021. arXiv admin note: text overlap with arXiv:2004.09498, arXiv:2004.1301

Path Following and Output Synchronization of Homogeneous Linear Time-Invariant Systems

This thesis examines two aspects of the path following control design problem for Linear Time-Invariant (L.T.I.) systems assigned closed curves in their output space. In the first part of the thesis we define a path following normal form for L.T.I. systems and study structural properties related to this normal form. We isolate how unstable zero dynamics alter the feasibility of using the path following normal form for control design. In the second half of the thesis we consider a synchronized path following problem for a homogenous multi-agent system and cast the problem as an instance of an output synchronization problem to leverage recent results from the literature. It is desired that each individual agent follow a specified path. The agents communicate with one another over an idealized communication network to synchronize their positions along the path. The main result is the construction of a dynamic feedback coupling that drives all the agents in the network to their respective reference paths while simultaneously synchronizing their positions along the path. Laboratory results are presented to illustrate the effectiveness of the proposed approach

Adaptive Control

Adaptive control has been a remarkable field for industrial and academic research since 1950s. Since more and more adaptive algorithms are applied in various control applications, it is becoming very important for practical implementation. As it can be confirmed from the increasing number of conferences and journals on adaptive control topics, it is certain that the adaptive control is a significant guidance for technology development.The authors the chapters in this book are professionals in their areas and their recent research results are presented in this book which will also provide new ideas for improved performance of various control application problems