415 research outputs found
Estimator-based adaptive neural network control of leader-follower high-order nonlinear multiagent systems with actuator faults
The problem of distributed cooperative control for networked multiagent systems is investigated in this paper. Each agent is modeled as an uncertain nonlinear high-order system incorporating with model uncertainty, unknown external disturbance, and actuator fault. The communication network between followers can be an undirected or a directed graph, and only some of the follower agents can obtain the commands from the leader. To develop the distributed cooperative control algorithm, a prefilter is designed, which can derive the state-space representation to a newly constructed plant. Then, a set of distributed adaptive neural network controllers are designed by making certain modifications on traditional backstepping techniques with the aid of adaptive control, neural network control, and a second-order sliding mode estimator. Rigorous proving procedures are provided,which show that uniform ultimate boundedness of all the tracking errors can be achieved in a networked multiagent system. Finally, a numerical simulation is carried out to evaluate the theoretical results
Pedestrian flows in bounded domains with obstacles
In this paper we systematically apply the mathematical structures by
time-evolving measures developed in a previous work to the macroscopic modeling
of pedestrian flows. We propose a discrete-time Eulerian model, in which the
space occupancy by pedestrians is described via a sequence of Radon positive
measures generated by a push-forward recursive relation. We assume that two
fundamental aspects of pedestrian behavior rule the dynamics of the system: On
the one hand, the will to reach specific targets, which determines the main
direction of motion of the walkers; on the other hand, the tendency to avoid
crowding, which introduces interactions among the individuals. The resulting
model is able to reproduce several experimental evidences of pedestrian flows
pointed out in the specialized literature, being at the same time much easier
to handle, from both the analytical and the numerical point of view, than other
models relying on nonlinear hyperbolic conservation laws. This makes it
suitable to address two-dimensional applications of practical interest, chiefly
the motion of pedestrians in complex domains scattered with obstacles.Comment: 25 pages, 9 figure
Decentralized Output Sliding-Mode Fault-Tolerant Control for Heterogeneous Multiagent Systems
This paper proposes a novel decentralized output sliding-mode fault-tolerant control (FTC) design for heterogeneous multiagent systems (MASs) with matched disturbances, unmatched nonlinear interactions, and actuator faults. The respective iteration and iteration-free algorithms in the sliding-mode FTC scheme are designed with adaptive upper bounding laws to automatically compensate the matched and unmatched components. Then, a continuous fault-tolerant protocol in the observer-based integral sliding-mode design is developed to guarantee the asymptotic stability of MASs and the ultimate boundedness of the estimation errors. Simulation results validate the efficiency of the proposed FTC algorithm
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