Leader-follower consensus with unknown control direction

Ton, Chau; Kan, Zhen; Doucette, Emily A.; Curtis, J. Willard; Mehta, Siddhartha S.

doi:10.1109/acc.2016.7525346

Cited by 9 publications

(3 citation statements)

References 20 publications

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“…Remark Different from the hyper sliding surface method, which well solves the problem of unknown control directions for two‐order systems in finite time, the proposed method solves the problem of unknown control directions for high‐order multiagent systems, and consensus is guaranteed to be achieved with a fixed‐time convergence rate.…”

Section: Distributed Consensus Control Protocolmentioning

confidence: 99%

Distributed fixed‐time consensus for multiagent systems with unknown control directions

Liu

Yang

2019

Intl J Robust & Nonlinear

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This paper investigates the consensus problem for high-order multiagent systems with unknown control directions and directed communication constraints.To handle the problem of unknown control directions, a logic switching rule is established in the framework of fixed-time stability. Then, the consensus is achieved in two steps. A group of distributed fixed-time observers is designed to estimate the reference signals first. Based on these estimates and the designed logic switching rule, a novel control protocol is proposed for each follower system. Different from the existing results, the consensus is achieved with a fixed-time convergence rate, and the unknown control directions are allowed to be nonidentical for each agent. Finally, simulation results are given to exhibit the validity of the proposed method.tracking has been achieved for high-order multiagent systems under an undirected communication graph. Furthermore, for multiagent systems with nonholonomic chained-form dynamics and a directed communication graph, this problem has been considered by Ning and Han. 19 It is worth noting that the above results are obtained based on an assumption that the control directions of follower systems are clearly known.In practice, there indeed exist some systems whose control directions are unknown, and correspondingly, the control problems of these systems are more complex and difficult. 20 To handle the issue that the control directions are unknown, the Nussbaum function was first developed, 21 then much progress has been made in multiagent systems. [22][23][24][25] For multiagent systems where the unknown control directions of the follower systems are identical, the consensus problem has been studied in the work of Chen et al. 22 To allow the control direction of each agent to be nonidentical, a new Nussbaum function was developed in the work of Guo et al. 23 Unfortunately, these works can only guarantee the regulation/tracking errors to be asymptotically convergent since the time derivative of the overall Lyapunov function cannot been ensured to be negative definite. According to the practical demand, recently, for a single system with an unknown control direction, global finite-time stability has been obtained in the works of Chen et al 26 and Wu et al. 27 In the work of Chen et al, 26 a switching function and a logic switching rule are designed to search the right control direction. When there are multiple unknown control directions in the system, this problem has been solved in the work of Wu et al. 27 However, up to now, there is no result that guarantees the consensus to be achieved in finite time for multiagent systems with unknown control directions. Moreover, different from a single system, the reference signals can only be obtained by a part of follower systems, and followers may have different control directions, which leads to the design being much more complex. Last but not the least, the directed communication networks also increase the difficulties in the stability analysis since the interactions are...

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Section: Distributed Consensus Control Protocolmentioning

confidence: 99%

Distributed fixed‐time consensus for multiagent systems with unknown control directions

Liu

Yang

2019

Intl J Robust & Nonlinear

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“…For example, position of each robot influences its own controlling effect in the robot formation tracking problem. To handle this issue, there are mainly three systematic approaches: the switching detection method [17], the nonlinear proportionalintegral (PI) scheme [18], [19], and the Nussbaum gain technique [20]- [24]. In particular, the switching mechanism is proposed in [17] to deal with the unknown control sign, where the nonsmooth design may bring undesired chattering behaviors.…”

Section: Introductionmentioning

confidence: 99%

“…To handle this issue, there are mainly three systematic approaches: the switching detection method [17], the nonlinear proportionalintegral (PI) scheme [18], [19], and the Nussbaum gain technique [20]- [24]. In particular, the switching mechanism is proposed in [17] to deal with the unknown control sign, where the nonsmooth design may bring undesired chattering behaviors. The authors in [18], [19] develops nonlinear PI schemes to solve this problem for a networked of single-and double-integrator agents over strongly connected graphs, where the design relies on the assumption that the control coefficients have to be constant.…”

Section: Introductionmentioning

confidence: 99%

Fault-Tolerant Formation Tracking of Heterogeneous Multi-Agent Systems with Time-Varying Actuator Faults and Its Application to Task-Space Cooperative Tracking of Manipulators

Feng,

2020

Preprint

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This paper addresses a formation tracking problem for nonlinear multi-agent systems with time-varying actuator faults, in which only a subset of agents has access to the leader's information over the directed leader-follower network with a spanning tree. Both the amplitudes and signs of control coefficients induced by actuator faults are unknown and time-varying. The aforementioned setting improves the practical relevance of the problem to be investigated, and meanwhile, it poses technical challenges to distributed controller design and asymptotic stability analysis. By introducing a distributed estimation and control framework, a novel distributed control law based on a Nussbaum gain technique is developed to achieve robust fault-tolerant formation tracking for heterogeneous nonlinear multiagent systems with time-varying actuator faults. It can be proved that the asymptotic convergence is guaranteed. In addition, the proposed approach is applied to task-space cooperative tracking of networked manipulators irrespective of the uncertain kinematics, dynamics, and actuator faults. Numerical simulation results are presented to verify the effectiveness of the proposed designs.

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An efficient voltage equalization algorithm for low-power supercapacitor applications

Song

Liu

Liao

et al. 2018

2018 IEEE Applied Power Electronics Conference and Exposition (APEC)

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Leader-follower consensus with unknown control direction

Cited by 9 publications

References 20 publications

Distributed fixed‐time consensus for multiagent systems with unknown control directions

Distributed fixed‐time consensus for multiagent systems with unknown control directions

Fault-Tolerant Formation Tracking of Heterogeneous Multi-Agent Systems with Time-Varying Actuator Faults and Its Application to Task-Space Cooperative Tracking of Manipulators

An efficient voltage equalization algorithm for low-power supercapacitor applications

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