Distributed Control of Nonlinear Uncertain Systems: A Cyclic-Small-Gain Approach

被引：0

作者：

Liu, Tengfei ^{[1
]}

Jiang, Zhong-Ping ^{[2
]}

机构：

[1] Northeastern Univ, State Key Lab Synthet Automat Proc Ind, Shenyang 110004, Peoples R China

[2] NYU, Dept Elect & Comp Engn, Brooklyn, NY 11201 USA

来源：

2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2014年

关键词：

Distributed control; nonlinear uncertain systems; input-to-state stability; input-to-output stability; small-gain theorem; MOBILE AUTONOMOUS AGENTS; COOPERATIVE CONTROL; LYAPUNOV FORMULATION; OUTPUT REGULATION; CONSENSUS; STABILIZATION; THEOREM; FLOW;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a cyclic-small-gain approach to distributed control of nonlinear multi-agent systems in the strict-feedback form for output agreement. Through a novel nonlinear control law design, the output agreement problem is transformed into a stabilization problem, and the closed-loop multi-agent system is transformed into a large-scale system composed of input-to-output stable (IOS) subsystems which are interconnected with each other through redefined outputs. The cyclic-small-gain theorem is employed as a fundamental tool to guarantee the IOS of the closed-loop large-scale system and the practical output-agreement of the multi-agent system. Moreover, if the system is disturbance-free, then accurate output-agreement is achievable. Interestingly, the closed-loop multi-agent system is also robust with respect to bounded time-delays in information exchange.

引用

页码：2572 / 2577

页数：6

共 36 条

[1]

[Anonymous], 1995, NONLINEAR ADAPTIVE C

[2] Passivity as a design tool for group coordination [J].

Arcak, Murat .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2007, 52 (08) :1380-1390

[3] Robust rendezvous for mobile autonomous agents via proximity graphs. in arbitrary dimensions [J].

Cortes, Jorge ;

Martinez, Sonia ;

Bullo, Francesco .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2006, 51 (08) :1289-1298

[4] Information flow and cooperative control of vehicle formations [J].

Fax, JA ;

Murray, RM .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2004, 49 (09) :1465-1476

[5] COORDINATED PATH-FOLLOWING IN THE PRESENCE OF COMMUNICATION LOSSES AND TIME DELAYS [J].

Ghabcheloo, R. ;

Aguiar, A. P. ;

Pascoal, A. ;

Silvestre, C. ;

Kaminer, I. ;

Hespanha, J. .

SIAM JOURNAL ON CONTROL AND OPTIMIZATION, 2009, 48 (01) :234-265

[6] Coordination of groups of mobile autonomous agents using nearest neighbor rules [J].

Jadbabaie, A ;

Lin, J ;

Morse, AS .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2003, 48 (06) :988-1001

[7] A Generalization of the Nonlinear Small-Gain Theorem for Large-Scale Complex Systems [J].

Jiang, Zhong-Ping ;

Wang, Yuan .

2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23, 2008, :1188-+

[8] A Lyapunov formulation of the nonlinear small-gain theorem for interconnected ISS systems [J].

Jiang, ZP ;

Mareels, IMY ;

Wang, Y .

AUTOMATICA, 1996, 32 (08) :1211-1215

[9] SMALL-GAIN THEOREM FOR ISS SYSTEMS AND APPLICATIONS [J].

JIANG, ZP ;

TEEL, AR ;

PRALY, L .

MATHEMATICS OF CONTROL SIGNALS AND SYSTEMS, 1994, 7 (02) :95-120

[10] Decentralized nonlinear output-feedback stabilization with disturbance attenuation [J].

Jiang, ZP ;

Repperger, DW ;

Hill, DJ .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2001, 46 (10) :1623-1629

← 1 2 3 4 →