Adaptive observer protocol designs for consensus tracking of multi‐agent systems

Chu, Hongjun; Gorbachev, Sergey; Yue, Dong; Dou, Chunxia; Ge, Yuan

doi:10.1049/cth2.12298

Cited by 6 publications

(8 citation statements)

References 25 publications

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“…To solve foregoing issues effectively, a saturated adaptive feedback controller using a non‐linear cascaded extended state observer (SAFCESO) is proposed for compromising between the measurement noise effect and the sensitivity to disturbances. Different from [36], in which only unmeasurable disturbances are considered, the CESO and adaptive sliding mode term are combined in CESO to deal with parameter uncertainties, matched disturbances, and mismatched disturbances existing in the TEOGSP system, respectively. The introduction of adaptive sliding mode term and boundary layer technique is proposed for disturbance estimation, which can make feedback parameter smaller, thereby avoiding this high‐gain feedback phenomenon as much as possible.…”

Section: Introductionmentioning

confidence: 99%

Saturated adaptive feedback control of electrical‐optical gyro‐stabilized platform based on cascaded adaptive extended state observer with complex disturbances

Yang

2023

IET Control Theory & Appl

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It is still an open and challenging issue to the typical position control problems of the three-axis electrical-optical gyro-stabilized platform systems (TEOGSP), due to inherent characteristics, for example, measurement noise, input saturation, parametric uncertainties, largely unknown load disturbance. To solve this problem, a saturated adaptive robust feedback controller using an adaptive cascaded extended state observer (SAFCESO) is proposed for compromising between the measurement noise effect and the sensitivity to disturbances. Firstly, the matched and mismatched disturbances existing in the TEOGSP system are estimated and rejected by the cascaded adaptive extended state observers (CESO). Secondly, the parametric uncertainties are evaluated by the adaptive control, and the match disturbances are attenuated by the robust control. Moreover, the adaptive robust control law does not require the velocity measurement signal and internal dynamics information of the system, which is practical to implement. Hence, all various uncertainties could be mainly compensated. Then, the improved auxiliary systems governed by smooth switching functions are developed and incorporated into the control design to compensate for the effect of the input saturation. Finally, the command filters are introduced to limit the magnitude of the virtual control and to calculate the derivative of the virtual control, respectively. The extensive comparative experimental results in the TEOGSP systems showed that the proposed SAFCESO method had superiorities in terms of high-precision tracking accuracy, robustness, and noise reduction.

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Section: Introductionmentioning

confidence: 99%

Saturated adaptive feedback control of electrical‐optical gyro‐stabilized platform based on cascaded adaptive extended state observer with complex disturbances

Yang

2023

IET Control Theory & Appl

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“…Coordinated behaviour and cooperative systems have drawn increasing attention in a range of fields, such as sensor networks [1], mobile robots [2] and unmanned aerial vehicles. A fundamental issue in the research is the consensus control [3], designed to drive the states of all individuals to attain the identical quantity of interest.…”

Section: Introductionmentioning

confidence: 99%

“…A fundamental issue in the research is the consensus control [3], designed to drive the states of all individuals to attain the identical quantity of interest. The past years have witnessed a great number of interesting results on the consensus problem through synthesizing graph theory and control theory [1][2][3][4]. Generally speaking, consensus control is usually formulated based on the cooperative interactions, implying that the edges of graph possess non-negative weights.…”

Section: Introductionmentioning

confidence: 99%

“…Contrary to the most existing consensus control in the cooperation network documented in references [22][23][24][25][26], a more practical issue of bipartite consensus is addressed in a cooperativecompetitive interaction considering communication delays. The main contributions of this paper involve in: (1) In comparison with references [27,28], a novel second-order auxiliary system is proposed for each EL-system associated with undirected graphs, making it feasible to achieve bipartite consensus using only position information. (2) Sufficient conditions are provided by utilizing the energy function based approach to ensure the bipartite consensus for cases with and without velocity signals under undirected interconnections.…”

Section: Introductionmentioning

confidence: 99%

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Bipartite consensus for networked Euler–Lagrange systems with cooperative–competitive interactions and time delays

Zhang

Wang

Wen

2023

IET Control Theory & Appl

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This paper investigates the coordinated behaviour of the multiple Euler-Lagrange systems under diverse interactions with time delays. Specially, in the case of undirected interconnection, the proportional plus damping control strategy is proposed and the sufficient conditions of bipartite consensus are derived via energy function based approach. Subsequently, a velocity-free controller is further developed by introducing a novel second-order auxiliary system to each agent. In the case of directed network, by fully investigating the property of the Laplacian matrix associated with the cooperative-competitive interactions, a bipartite consensus controller is devised and the input-output property analysis of the system transfer function in frequency domain is presented. Simulation results are provided to demonstrate the effectiveness of the presented algorithms.

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“…Nevertheless, the designs of most existing distributed observers including predefined-time distributed observers [15][16][17][18][19][20][21] require the information of the communication graph, hindering the practical applications. Recently, a few fully distributed observers [22][23][24] to avoid using the Laplacian matrix information have been developed, which are mainly inspired by early works [25][26][27] of adaptive distributed consensus protocol design. In References, 22,23 fully distributed observers by integrating with time-varying coupling weights were designed to estimate the states of the linear leader systems.…”

Section: Introductionmentioning

confidence: 99%

Fully predefined‐time distributed observer design for second‐order strict‐feedback nonlinear systems

Lv,

Kao,

Wang

et al. 2023

Intl J Robust & Nonlinear

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Distributed observer is an effective tool to deal with leader‐following control problems. This article investigates the fully predefined‐time distributed observer (FPTDO) design problem of a generalized second‐order strict‐feedback nonlinear leader system. Firstly, given the system parameters and the upper bounds of the system nonlinearities, an FPTDO is proposed to provide the state estimates. Secondly, considering that the time‐varying system parameters and nonlinear functions of the leader system are unknown to each follower, an FPTDO is developed to estimate the time‐varying system parameters, nonlinearities and full state of the leader. The proposed FPTDOs exhibit the following advantages: (1) the observation errors converge to zero within a finite time that is predefined by only one design parameter independent of the initial conditions; (2) the designs of the FPTDOs do not require any information of the communication topology (Laplacian matrix); and (3) the exact models of the nonlinear functions are not required by each follower. Finally, simulation examples are given to demonstrate the effectiveness of the proposed FPTDOs.

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Adaptive observer protocol designs for consensus tracking of multi‐agent systems

Cited by 6 publications

References 25 publications

Saturated adaptive feedback control of electrical‐optical gyro‐stabilized platform based on cascaded adaptive extended state observer with complex disturbances

Saturated adaptive feedback control of electrical‐optical gyro‐stabilized platform based on cascaded adaptive extended state observer with complex disturbances

Bipartite consensus for networked Euler–Lagrange systems with cooperative–competitive interactions and time delays

Fully predefined‐time distributed observer design for second‐order strict‐feedback nonlinear systems

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