Consensus Control of Nonlinear Multiagent Systems with Incremental Quadratic Constraints and Time Delays

Safe and comfortable driving experience includes the improvement of handling performance and stability control. This paper proposed a coordinated controller based on the function allocation for the handling performance and stability of distributed drive electric vehicles. The proposed controller has three layers. The upper control layer designs a dynamic stability envelope boundary suitable for various driving conditions through the phase plane method, and on this basis, the function allocation rules of torque vector control (TVC) strategy and electronic stability control (ESC) strategy were formulated. The medium control layer used the robust [Formula: see text] dynamic output feedback control method and the improved particle swarm optimization (PSO) parameter self-adjusting method to calculate the additional yaw moment required by the TVC strategy and the ESC strategy, respectively. The two types of additional yaw moment are implemented by the in-wheel motor and the hydraulic brake mechanism respectively. The lower control layer optimized the four-wheel torque and braking force based on the optimal tire load rate using the quadratic programming method. The proposed coordinated controller was performed in the CarSim/Simulink co-simulation platform and tested in a real vehicle platform. The results show that the proposed controller can improve the vehicle dynamic response according to the driver’s intention, thus bringing the better handling performance and stability.

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“…By Schur complement lemma 28 and substituting the parameters of equation (27) into the equation (31), the following inequality can be obtained:…”

Section: Coordinated Controller Designmentioning

confidence: 99%

Coordinated control of distributed drive electric vehicle by TVC and ESC based on function allocation

Liang

Wang

Chen

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…Açıkmeşe, 24 Zhao, 25 and Zhang 26 designed the observers for the nonlinear systems with IQC. Wang 27 considered the consensus protocol of nonlinear multi‐agent with IQC. Recently, Huang 28 studied the robust control of incremental quadratic constrained nonlinear systems with actuator saturation.…”

Section: Introductionmentioning

confidence: 99%

Stochastic stability and stabilization for stochastic differential semi‐Markov jump systems with incremental quadratic constraints

Zhang

Huang

Zhang

2021

Intl J Robust & Nonlinear

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The problem of the stochastic stability analysis and state feedback stabilization for nonlinear stochastic differential semi‐Markov jump systems with incremental quadratic constraints is investigated in this article. Different from Markovian process, the transition rate is time varying with known bounds and the sojourn time is conformed to the Weibull distribution in semi‐Markov process. Traditional nonlinear constraint such as Lipschitz, one‐sided Lipschitz, and so forth, is extended to incremental quadratic constraint. By the mode‐dependent Lyapunov function and the slack variable method, the sufficient conditions ensuring that the considered systems are stochastically stable are formulated by linear matrix inequalities. Then, a state feedback controller is designed to drive the closed‐loop system stochastically stable. Finally, an example of helicopter is used to illustrate the superiority as well as effectiveness of the results in this treatise.

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“…With the tremendous amount of studies on consensus theory (e.g. linear MASs (Deng and Sun, 2020;Olfati-Saber et al, 2007;Qian et al, 2020;Su et al, 2019b;Wang et al, 2017b), and nonlinear MASs (Wang et al, 2020;Zou et al 2019Zou et al , 2020Zou et al , 2021), many researchers discovered that consensus theory can be used to handle the issues of formation control for MASs. The consensus-based approach, as a new way to form specific formation, relies on relative states/outputs information among neighbouring agents.…”

Section: Introductionmentioning

confidence: 99%

Distributed adaptive time-varying formation control for Lipschitz nonlinear multi-agent systems

Yan

Zhang

Guo

et al. 2021

Transactions of the Institute of Measurement and Control

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In this paper, two kinds of distributed time-varying formation tracking problems for a class of Lipschitz nonlinear multi-agent systems are investigated, that is, the cases with leadless and leader-following formation. By devising a new type of edge-based adaptive algorithm, the controller of each agent can avoid the use of eigenvalues of Laplacian matrix in communication networks. The proposed algorithm only utilizes local information among neighbouring agents to form time-varying formation for nonlinear multi-agent systems with mismatched nonlinearities, and the formation tracking error is uniformly ultimately bounded. To accomplish the required time-varying formation characteristic, a predesigned formation compensation function is given. Finally, numerical simulation examples are presented to indicate the stability of the proposed algorithm, and a comparison is also given to show the superiority of the given algorithm.

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Consensus Control of Nonlinear Multiagent Systems with Incremental Quadratic Constraints and Time Delays

Cited by 3 publications

References 38 publications

Coordinated control of distributed drive electric vehicle by TVC and ESC based on function allocation

Coordinated control of distributed drive electric vehicle by TVC and ESC based on function allocation

Stochastic stability and stabilization for stochastic differential semi‐Markov jump systems with incremental quadratic constraints

Distributed adaptive time-varying formation control for Lipschitz nonlinear multi-agent systems

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