Distributed adaptive output feedback consensus protocols for linear systems on directed graphs with a leader of bounded input

Lv, Yuezu; Li, Zhongkui; Duan, Zhisheng; Chen, Jie

doi:10.1016/j.automatica.2016.07.041

Cited by 157 publications

(94 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A robust method was introduced to solve this problem for consensus tracking in the works of Lv et al 30 and Li et al 31 Besides, the adaptive neural networks in the works of Wang et al 32,33 could also deal with the unknown control input. Although the 2 challenges were studied for the formation tracking problems in other works, [27][28][29][30][31][32][33] it was assumed that there was only 1 leader. In many practical applications, special task may need the followers to track the average state or other state forms of the multiple leaders, such as the cooperative working of the multiple manned/unmanned aerial vehicles.…”

Section: Discussionmentioning

confidence: 99%

“…In practical applications, the control inputs of the leaders may not be acquired by the followers because the leaders may have special and different maneuvers due to special cases especially in the uncooperative scenarios. Besides, the unknown control input of the leader u k ( t ) is supposed to be derivative‐bounded, which is less conservative compared with the bounded control input in the works of Lv et al and Li et al Moreover, the nonlinearity dynamics item f i ( φ i ( t )) and the disturbance δ i ( t ) are considered. In practical applications, the nonlinearity f i ( φ i ( t )) is usually uncertain to the designers due to the parameter uncertainties and other uncertain dynamics.…”

Section: Preliminaries and Problem Descriptionmentioning

confidence: 99%

“…[25][26][27] If h i (t) ≡ 0, the definition of the time-varying formation tracking become the one of the consensus tracking in other works. [30][31][32][33] In practical application, it is hard to achieve the asymptotic time-varying formation tracking proposed in other works 25,26,34,35 due to the uncertain nonlinearities/disturbances and the unknown control inputs of the leaders. If = 0, Definition 2 becomes the definition of the asymptotic time-varying formation tracking in other works.…”

Section: Problem Descriptionmentioning

confidence: 99%

See 2 more Smart Citations

Practical time‐varying formation tracking for high‐order nonlinear multiagent systems with multiple leaders based on the distributed disturbance observer

Dong

Liang

et al. 2018

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

Summary Practical time‐varying formation tracking analysis and design problems for high‐order nonlinear multiagent systems with directed interaction topologies are investigated by using the distributed disturbance observer, where the time‐varying formation tracking error can be controlled within an arbitrarily small bound. Different from the previous work, there exists a predefined time‐varying formation formed by the states of the followers and the formation tracks the convex combination of the states of the leaders with unknown control inputs. Besides, the leaders can be multiple, and the dynamics of each follower has heterogeneous nonlinearity and disturbance. First, a distributed disturbance observer‐based practical time‐varying formation tracking protocol is constructed using neighboring relative information, where only a part of the followers, which are named as well‐informed ones, are required to obtain the information of the multiple leaders. The proposed protocol can process the heterogeneous nonlinearity, the disturbance of each follower, and the unknown control inputs of the leaders simultaneously. Then, an algorithm with 2 steps is presented to design the practical time‐varying formation tracking protocol by solving an algebraic Riccati equation and an algebraic equation, where the time‐varying formation tracking feasibility condition is introduced. Moreover, the stability of the closed‐loop multiagent system under the proposed protocol is proved by using the properties of the Laplacian matrix and the Lyapunov stability theory. Finally, a numerical simulation example is provided to illustrate the effectiveness of the obtained theoretical results.

show abstract

Section: Discussionmentioning

confidence: 99%

Section: Preliminaries and Problem Descriptionmentioning

confidence: 99%

Section: Problem Descriptionmentioning

confidence: 99%

See 1 more Smart Citation

Practical time‐varying formation tracking for high‐order nonlinear multiagent systems with multiple leaders based on the distributed disturbance observer

Dong

Liang

et al. 2018

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

show abstract

“…This work is extended by the work of Li et al 28 for a MAS with partial-state coupling with additional information exchange. A higher-order adaptive protocol is designed in the work of Lv et al 29 for the leader-follower state synchronization of a MAS with partial-state coupling, which again requires additional information exchange.…”

Section: Introductionmentioning

confidence: 99%

Regulated state synchronization of homogeneous multiagent systems with partial‐state coupling via low‐gain adaptive protocol

Stoorvogel

Saberi

Liu

et al. 2019

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

This paper studies regulated state synchronization for continuous-time homogeneous multiagent systems with weakly unstable agents where the reference trajectory is given by a so-called exosystem. The agents share part of their state over a communication network. We assume that the communication topology is completely unknown and directed. An algebraic Riccati equation-based low-gain adaptive nonlinear dynamic protocol design is presented to achieve the regulated state synchronizations. Utilizing the adaptive control, our nonlinear dynamic protocol is universal and does not depend on any information about the communication topology or the number of agents. KEYWORDS adaptive, low-gain, multiagent systems, regulated state synchronization 3518

show abstract

“…Over the past two decades, the distributed coordination of multi-agent systems has received significant attention in the control community due to its widely applications in various engineering systems such as data fusion of sensor networks, task cooperation of robots, synchronization of distributed oscillators, and formation maneuver of unmanned vehicles. As the most fundamental research topic for multi-agent systems coordination, consensus problem has been investigated intensively, and many remarkable contributions have been made [1][2][3][4][5][6][7][8][9][10][11].…”

Section: Introductionmentioning

confidence: 99%

Sampled-data based consensus for multiple harmonic oscillators with directed switching topology

Liu

Zhao

Shi

2017

Journal of the Franklin Institute

View full text Add to dashboard Cite

This paper investigates the distributed consensus problem for a group of harmonic oscillators under directed switching topology. First, under the assumption that the union of the directed interaction graphs has a spanning tree, a class of sampleddata based consensus protocols are designed by using motion planning approaches and Pontryagin's principle. The proposed protocols only require that the union of communication topologies switched at the sampled instants has a spanning tree, without requiring information exchanges over the sampled interval and the connectivity of communication topology at each sampling instant. Then, the distributed consensus problem can be solved under directed switching topology by using stability principle and the properties of stochastic matrixes. Compared with the existing sampled-data based consensus algorithms, in this article, a remarkable advantage is that, for the proposed sampled-data based protocols, the sampled periods, communication topologies and control gains are decoupling and can be separately designed, which relaxes many restrictions in controller designs. Finally, as an extension of the leaderless consensus protocols, a leader-following consensus algorithm is further proposed in this paper. Some numerical examples are also given to illustrate the effectiveness of the analytical results.

show abstract

Distributed adaptive output feedback consensus protocols for linear systems on directed graphs with a leader of bounded input

Cited by 157 publications

References 18 publications

Practical time‐varying formation tracking for high‐order nonlinear multiagent systems with multiple leaders based on the distributed disturbance observer

Practical time‐varying formation tracking for high‐order nonlinear multiagent systems with multiple leaders based on the distributed disturbance observer

Regulated state synchronization of homogeneous multiagent systems with partial‐state coupling via low‐gain adaptive protocol

Sampled-data based consensus for multiple harmonic oscillators with directed switching topology

Contact Info

Product

Resources

About