Practical Stabilization of Passive Nonlinear Systems with Limited Control

Jayawardhana, Bayu; Almuzakki, M. Muhammad Zaki; Tanwani, Aneel

doi:10.1016/j.ifacol.2019.12.004

Cited by 5 publications

(15 citation statements)

References 17 publications

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“…Specifically, we study nearest-neighbor distributed control for consensus and distance-based formation control problems. We emphasize that the notion of nearestneighbor control is consistent with the prior work in [19]- [20] and it is not related to the notion of neighbors in the graph of multi-agent systems. We show the practical stability property of the closed-loop system where the usual consensus and distance-based formation Lyapunov function are used in the analysis.…”

Section: Introductionsupporting

confidence: 65%

“…for all t ≥ 0 and for some c 2 > 0. Combining this with (19), we get ∥D z e∥ = e ⊤ D z e ≥ c 2 ∥e∥. Hence we can conclude that in the invariant set Ψ, we have ∥e∥ ≤ 1 c 2 ∥D z e∥ ≤ δ c 2 .…”

Section: B Distance-based Formation With Finite Sets Of Actionsmentioning

confidence: 65%

“…In [19], [20], these quantization operators are considered as nearest-neighbor operators that map the input value to the available points in a given discrete set , which can have a finite or infinite number of members. The authors study the use of with minimal cardinality such that the closed-loop systems are practically stable.…”

Section: Introductionmentioning

confidence: 99%

“…In this letter, we present the application of nearestneighbor control to the cooperative control of multi-agent systems. We study the combination of the nearest-neighbor approach studied in [19], [20] and the standard distributed continuous control laws for multi agent-cooperation as in [5], [10], [12]. Specifically, we study nearest-neighbor distributed control for consensus and distance-based formation control problems.…”

Section: Introductionmentioning

confidence: 99%

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Cooperative Nearest-Neighbor Control of Multi-Agent Systems: Consensus and Formation Control Problems

Almuzakki

Jayawardhana

2023

IEEE Control Syst. Lett.

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This letter studies the problem of cooperative nearest-neighbor control of multi-agent systems where each agent can only realize a finite set of control points. Under the assumption that the underlying graph representing the communication network between agents is connected and the interior of the convex hull of all finite actions of each agent contains the zero element, consensus or distance-based formation problems can practically be stabilized by means of nearest-neighbor control approach combined with the wellknown consensus control or distributed formation control laws, respectively. Furthermore, we provide the convergence bound for each corresponding error vector which can be computed based on the information of individual agent's finite control points. Finally, we show Monte Carlo numerical simulations that confirm our analysis.

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Section: Introductionsupporting

confidence: 65%

Section: B Distance-based Formation With Finite Sets Of Actionsmentioning

confidence: 65%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Cooperative Nearest-Neighbor Control of Multi-Agent Systems: Consensus and Formation Control Problems

Almuzakki

Jayawardhana

2023

IEEE Control Syst. Lett.

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“…In Chapter 3 [66,67], these quantization operators are considered as nearest-action operators that map the input value to the available points in a given discrete set U , which can have a finite or infinite number of members. We have shown that for a generic class of m-dimensional passive systems having proper storage function and satisfying the nonlinear large-time initial-state norm observablility condition 1 , it can be practically stabilized using only m + 2 control actions.…”

Section: Discussionmentioning

confidence: 99%