Adaptive Synchronization of Uncertain Complex Networks under State-dependent a priori Interconnections

Tao, Tian; Roy, S.; Baldi, Simone

doi:10.1109/cdc45484.2021.9682967

Cited by 4 publications

(5 citation statements)

References 35 publications

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“…It should be noted that the above assumption is untenable if there are no system state constraints [35,36].…”

Section: {B}mentioning

confidence: 99%

“…Theorem 2. Consider the inner-loop subsystem (35) and (36) of the ith AUV in the formation control system, which has a local cost function (41) with constraints (38) and (39). The inner-loop predictive control subsystem is asymptotically stable if for each sampling instant k, there exists a solutionK iτ such that the performance index J iv is minimized subject to the terminal state constraint.…”

Section: Stability Analysismentioning

confidence: 99%

See 1 more Smart Citation

Distributed Dual Closed-Loop Model Predictive Formation Control for Collision-Free Multi-AUV System Subject to Compound Disturbances

Zhang,

Yan,

Zhou

et al. 2023

JMSE

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This paper focuses on the collision-free formation tracking of autonomous underwater vehicles (AUVs) with compound disturbances in complex ocean environments. We propose a novel finite-time extended state observer (FTESO)-based distributed dual closed-loop model predictive control scheme. Initially, a fast FTESO is designed to accurately estimate both model uncertainties and external disturbances for each subsystem. Subsequently, the outer-loop and inner-loop formation controllers are developed by integrating disturbance compensation with distributed model predictive control (DMPC) theory. With full consideration of the input and state constraints, we resolve the local information-based DMPC optimization problem to obtain the control inputs for each AUV, thereby preventing actuator saturation and collisions among AUVs. Moreover, to mitigate the increased computation caused by the control structure, the Laguerre orthogonal function is applied to alleviate the computational burden in time intervals. We also demonstrate the stability of the closed-loop system by applying the terminal state constraint. Finally, based on a connected directed topology, comparative simulations are performed under various control schemes to verify the robustness and superior performance of the proposed scheme.

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“…It should be noted that the above assumption is untenable if there are no system state constraints [35,36].…”

Section: {B}mentioning

confidence: 99%

Section: Stability Analysismentioning

confidence: 99%

Distributed Dual Closed-Loop Model Predictive Formation Control for Collision-Free Multi-AUV System Subject to Compound Disturbances

Zhang,

Yan,

Zhou

et al. 2023

JMSE

View full text Add to dashboard Cite

show abstract

“…This makes it impossible for many common functions, such as exponential and nonlinear polynomial functions, to satisfy this assumption. Recently, another upper bound structure for nonlinear dynamics and interconnections was presented in [41]. Based on this kind of assumption, the authors studied the synchronization problem for complex networks composed of nonlinear nodes under state-dependent a priori interconnections.…”

Section: Assumption 1 ([40]mentioning

confidence: 99%

Adaptive Discontinuous Control for Fixed-Time Consensus of Nonlinear Multi-Agent Systems

et al. 2022

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This paper mainly focuses on the fixed-time consensus (FXC) control problem for nonlinear multi-agent systems (MASs). For the cases of leader-following and leaderless, two adaptive discontinuous protocols are designed, respectively, to realize our control goals. Common adaptive control protocols always significantly increase the dimension of the considered system model, while the protocols presented here only require two adaptive update laws and are therefore simpler to apply in the engineering control. Moreover, no additional conditions are required to ensure that the system can achieve FXC successfully, except for some necessary assumptions. Simulation examples also illustrate that these two protocols are effective.

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“…(3) This paper provides new research methods and theoretical analysis ideas for solving the consistency problem of robotic arms. Compared with the concept of consistency [26][27][28][29][30][31] in the traditional sense, the concept of region reaching consensus in this paper can more easily obtain the final range of consistent states independent of the initial state.…”

Section: Introductionmentioning

confidence: 99%

“…In particular, when the target region is reduced to a single point, the problem in this paper is transformed into a point stabilization control problem in the traditional sense. (3)This paper provides new research methods and theoretical analysis ideas for solving the consistency problem of robotic arms. Compared with the concept of consistency [26–31] in the traditional sense, the concept of region reaching consensus in this paper can more easily obtain the final range of consistent states independent of the initial state.…”

Section: Introductionmentioning

confidence: 99%

Distributed region reaching consensus control for uncertain networked multi‐robot systems

Zhu,

Yang,

Zhang

et al. 2023

Z Angew Math Mech

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The main objective of this paper is to advance the concept of region reaching control for a single robot to the study of region reaching consistency for uncertain fully‐actuated multi‐robot systems formulated by Lagrange dynamics. By introducing a directed network communication topology and utilizing the pinning‐like control methods, a distributed region reaching consensus control strategy is proposed. The desired region shape can be specified by selecting an appropriate potential objective function. A feature of the developed region reaching consensus algorithm is fully distributed, which is also an important generalization of pinning‐like set point tracking scheme based on the typical proportion‐integration‐differentiation control scheme. More importantly, the scope of consistency in this paper can be explicitly defined, which is different from traditional consistency control algorithms. Subsequently, numerical examples are presented to illustrate the performance of the designed controllers.

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Adaptive Synchronization of Uncertain Complex Networks under State-dependent a priori Interconnections

Cited by 4 publications

References 35 publications

Distributed Dual Closed-Loop Model Predictive Formation Control for Collision-Free Multi-AUV System Subject to Compound Disturbances

Distributed Dual Closed-Loop Model Predictive Formation Control for Collision-Free Multi-AUV System Subject to Compound Disturbances

Adaptive Discontinuous Control for Fixed-Time Consensus of Nonlinear Multi-Agent Systems

Distributed region reaching consensus control for uncertain networked multi‐robot systems

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