Multipattern Output Consensus in Networks of Heterogeneous Nonlinear Agents With Uncertain Leader: A Nonlinear Regression Approach

Casadei, Giacomo; Astolfi, Daniele

doi:10.1109/tac.2017.2771316

Cited by 16 publications

(5 citation statements)

References 27 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…From the theoretical point of view, future works include the extension of the proposed technique to pure output-feedback designs for higher relative degree systems; the study of RC-schemes for non-minimum phase systems and/or multi-variable systems; the use of adaptive schemes that possibly estimate online the period T ; and the extension of the proposed technique to the context of cooperative output control problems for multi-agent systems, see, e.g., [35,36].…”

Section: Discussionmentioning

confidence: 99%

Repetitive control design based on forwarding for nonlinear minimum-phase systems

2021

Self Cite

View full text Add to dashboard Cite

We propose a new design for a repetitive control scheme for nonlinear minimum-phase systems with arbitrary relative degree and globally Lipschitz nonlinearities. We represent the delay of the repetitive control scheme as a transport equation and we propose a new forwarding-based (partial) state-feedback design that uses not only the boundary information of the delay, but the entire state of the transport equation representing the delay. Through a rigorous mathematical analysis, we show that, from a theoretical point of view, asymptotic convergence of the desired regulated output can be achieved with the proposed control design.

show abstract

Section: Discussionmentioning

confidence: 99%

Repetitive control design based on forwarding for nonlinear minimum-phase systems

2021

Self Cite

View full text Add to dashboard Cite

show abstract

“…In particular, output regulation theory, backstepping method, high-gain observer, adaptive control, and optimal control have been utilized. Meanwhile, to the best of our knowledge, these works either have a common internal model assumption (De Persis & Jayawardhana, 2012;Isidori, Marconi, & Casadei, 2014;Modares, Lewis, Kang, & Davoudi, 2017;Casadei & Astolfi, 2017), use sufficiently small (or large) parameters which depend on the global information such as the network topology (Su & Huang, 2014;Montenbruck et al, 2015;Zhang, Saberi, Stoorvogel, & Grip, 2016;Kim et al, 2016;Panteley & Loría, 2017), need additional communication channel (Lee, Yun, & Shim, 2018;Su, 2019), or assume individual stability in the broad sense such as output feedback passivity (DeLellis, Di Bernardo, & Liuzza, 2015).…”

Section: Synchronization Of Multi-agent Systemsmentioning

confidence: 99%

Synchronization with prescribed transient behavior: Heterogeneous multi-agent systems under funnel coupling Extended arXiv version

Lee,

Trenn,

Shim

2020

Preprint

View full text Add to dashboard Cite

In this paper, we introduce a nonlinear time-varying coupling law, which can be designed in a fully decentralized manner and achieves approximate synchronization with arbitrary precision, under only mild assumptions on the individual vector fields and the underlying graph structure. Meanwhile, we consider undirected graphs and scalar input affine systems for simplicity. The proposed coupling law is motivated by the so called funnel control method studied in adaptive control under the observation that arbitrary precision synchronization can be achieved for heterogeneous multi-agent systems by the highgain coupling, and thus, we follow to call our coupling law as '(node-wise) funnel coupling.' By getting out of the conventional proof technique in the funnel control study, we now can obtain even asymptotic synchronization with the same funnel coupling law. Moreover, the emergent collective behavior that arises for a heterogeneous multi-agent system when enforcing arbitrary precision synchronization by the proposed funnel coupling law, has been analyzed in this paper. In particular, we introduce a single scalar dynamics called 'emergent dynamics' that is capable of illustrating the emergent synchronized behavior by its solution trajectory. Characterization of the emergent dynamics is important because, for instance, one can design the emergent dynamics first such that the solution trajectory behaves as desired, and then, provide a design guideline to each agent so that the constructed vector fields yield the desired emergent dynamics. A particular example illustrating the utility of the emergent dynamics is given also in the paper as a distributed median solver.

show abstract

“…The following result, taken from [28], allows us to design f to achieve synchronization for the homogeneous dynamics in (5).…”

Section: Adaptive State Synchronizationmentioning

confidence: 99%

“…This means that the well-known internal model principle [3] can be used to solve synchronization problems. Motivated by this result, synchronization protocols were designed for both linear [4] and nonlinear networks [5]. Most approaches to cooperative output regulation problem can be divided into two families: the internal model approach [6], and the feedforward approach [7].…”

Section: Introductionmentioning

confidence: 99%

A distributed disagreement-based protocol for synchronization of uncertain heterogeneous agents

Baldi

Azzollini

Kosmatopoulos

2018

2018 European Control Conference (ECC)

View full text Add to dashboard Cite

In networks with heterogeneous and uncertain agents, fixed-gain control can lead to synchronization only if the uncertainties are relatively small. If the uncertainties are larger, we need to develop adaptive-gain approaches to achieve synchronization. In this work we propose an adaptive synchronization protocol, in case of full-state measurement, for uncertain heterogeneous agents based on a distributed disagreement reasoning. Specifically, we first define unknown gains (feedback and coupling gains) that could lead all agents to a homogeneous behavior and thus synchronization: however, since these gains are unknown in view of the unknown dynamics, we design adaptive laws for these gains that lead the agents toward synchronization. The adaptive laws are driven by a disagreement error which is calculated among neighbors: a Lyapunov analysis is presented for showing convergence of the synchronization error to zero.

show abstract

Multipattern Output Consensus in Networks of Heterogeneous Nonlinear Agents With Uncertain Leader: A Nonlinear Regression Approach

Cited by 16 publications

References 27 publications

Repetitive control design based on forwarding for nonlinear minimum-phase systems

Repetitive control design based on forwarding for nonlinear minimum-phase systems

Synchronization with prescribed transient behavior: Heterogeneous multi-agent systems under funnel coupling Extended arXiv version

A distributed disagreement-based protocol for synchronization of uncertain heterogeneous agents

Contact Info

Product

Resources

About