Disturbances attenuation for interconnected systems by decentralized control

Cheng, Cheng-Fa

doi:10.1080/002071797224702

Cited by 12 publications

(6 citation statements)

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“…In [9,24,2,10], the decentralized linear H ∞ control technique was applied for linear interconnected systems with linear interconnections where disturbances preserve the interconnection structure. Centralized nonlinear H ∞ control has achieved considerable development since the initial result [20].…”

Section: Introductionmentioning

confidence: 99%

Decentralized robust disturbance attenuation for a class of large-scale nonlinear systems

Guo

Jiang²,

Hill

1999

Systems & Control Letters

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We solve the problem of decentralized H∞ almost disturbance decoupling for a class of large-scale nonlinear uncertain systems in the absence of matching conditions. The method combines ideas from decentralized adaptive control and centralized nonlinear H∞ control. We relax earlier assumptions on the uncertain time-varying interconnections which are demanded to be only bounded by general nonlinear functions in this work.

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Section: Introductionmentioning

confidence: 99%

Decentralized robust disturbance attenuation for a class of large-scale nonlinear systems

Guo

Jiang²,

Hill

1999

Systems & Control Letters

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“…During a real-time formation flight, to ensure flight safety, a collision avoidance algorithm is added to the expression in (17) and (18) to prevent UAVs from colliding in the air. For this method, the Repellent Morse Potential methodology is used to realise a safe formation flight given in (19…”

Section: Collision Avoidancementioning

confidence: 99%

Robust Consensus-based Formation Control of a Group of UAV

Basci

2023

ELEKTRON ELEKTROTECH

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Consensus-based formation control (CFC) is one of the most phenomenal formation control methods designed to achieve consensus between any vehicles that using and sharing their position and/or linear velocity with each other in a swarm mission. In this paper, a robust CFC (R-CFC) has been designed and proposed to realize pre-defined formation shapes with a team of unmanned aerial vehicles (UAVs). First, the double integrator dynamics of an UAV is presented. Second, the graph theory is explained briefly to understand any adjacency between UAVs. Then, the proposed R-CFC algorithm has been derived and the stability analysis has been proven via algebraic Riccati stability theory based on Lyapunov stability theorem. After that, the effectiveness of the proposed controller has been tested in real time outdoor tests. The experimental results show that the UAVs have been able to create the desired formation shapes and are less affected by external disturbances such as wind thanks to the proposed control algorithm.

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“…The problem of robust decentralised controller design has received much attention and many results have been obtained. In [12], [13], [14], [15], only matched uncertainties are considered and the bounds on the matched uncertainties are assumed to be linear or polynomial. In terms of mismatched uncertainties, in order to achieve asymptotic stability, some limitations are unavoidable.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Sliding Mode Control for Interconnected Systems With Application to Automated Highway Systems

Yan

Spurgeon

et al. 2018

IEEE Trans. Control Netw. Syst.

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In this paper, a decentralised control strategy based on sliding mode techniques is proposed for a class of nonlinear interconnected systems. Both matched uncertainties in the isolated subsystems and mismatched uncertainties associated with the interconnections are considered. Under mild conditions, sliding mode controllers for each subsystem are designed in a decentralised manner by only employing local information. Conditions are determined which enable information on the interconnections to be employed within the decentralised controller design to reduce conservatism. The developed results are applied to an automated highway system. Simulation results pertaining to a high-speed following system are presented to demonstrate the effectiveness of the approach.

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Disturbances attenuation for interconnected systems by decentralized control

Cited by 12 publications

References 0 publications

Decentralized robust disturbance attenuation for a class of large-scale nonlinear systems

Decentralized robust disturbance attenuation for a class of large-scale nonlinear systems

Robust Consensus-based Formation Control of a Group of UAV

Nonlinear Sliding Mode Control for Interconnected Systems With Application to Automated Highway Systems

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