Cooperative Control of Multiple Agents With Unknown High-Frequency Gain Signs Under Unbalanced and Switching Topologies

Abstract

Existing results on cooperative control of multiagent systems with unknown control directions require that the underlying topology is either fixed with a strongly connected graph or switching between different strongly connected graphs. Furthermore, in most cases the graph is assumed to be balanced. This paper proposes a new class of nonlinear PI based algorithms to relax these requirements and allow for unbalanced and switching topologies having a jointly strongly connected basis. This is made possible for single-integrator (SI) and double-integrator (DI) agents with non-identical unknown control directions by a suitable selection of the distributed nonlinear PI functions. Moreover, as a special case, the proposed algorithms are applied to strongly connected and fixed graphs. Finally, simulation examples are given to show the validity of our theoretical results.

Power Balance Optimization Technology of Microgrid Based on Full-Bridge Converter

“…erefore, when analyzing the voltage loop, it can be considered that the power feedforward completely eliminates the influence of the DC/DC side fast response system on the DC voltage when the active power is required and the bandwidth of the voltage loop is much smaller than the bandwidth of the current inner loop. erefore, equation (14) can be simplified to…”

“…Further, a novel double closed-loop control strategy has been proposed [12,13] to inhibit the influence of negative-sequence voltage on the system, improve the switching function, and suppress the third harmonic current, but its control structure is complex and response speed is low. Wang et al [14] propose a new class of nonlinear PI-based algorithms to relax these requirements and allow for unbalanced and switching topologies having a jointly strongly connected basis.…”

Consensus of Multiagent System in the Sense of Curvature and Torsion

“…Notice that, in the above results, consensus refers to the fact that the state of each node converges to a same value, or the errors among all agents are limited for the target tracking system. In [14,15], the consensus results show that all trajectories of nodes converge to a curve. In [17], the tracking errors among all trajectories are limited in the permitted range.…”

“…For the past decade, consensus problem of MAS has attracted much attention due to its presence in formation, environmental monitoring, and unmanned aerial vehicles control [9]. Therefore, many results on consensus problems of MAS have been obtained (see, e.g., consensus of the first order MAS [10][11][12][13][14][15][16][17][18][19]; consensus of the second order MAS [20,21]; consensus of the fraction order MAS [22]; and the consensus of the scale free networks [23]).…”

Numerical Vibration Displacement Solutions of Fractional Drawing Self‐Excited Vibration Model Based on Fractional Legendre Functions

“…e self-excitation vibration exists in the natural and engineering eld, which requires no external force or external action to change the structural parameters of the system but relies on the interaction of various components within the system to maintain the steady-state periodic motion [1][2][3][4][5][6][7][8]. Some self-excited oscillations are very complicated.…”