Robust consensus tracking control of higher‐order uncertain non‐linear systems via cascaded finite‐time estimation of reference states

Yang, Zi‐Jiang

doi:10.1049/iet-cta.2015.1016

Cited by 4 publications

(6 citation statements)

References 28 publications

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“…Taking the transient phase of reference state estimation into account, the logic of analysis is summarized as follows. 41 According to Result 1, all the reference state estimation errors decay to be sufficiently small for t ≥ T 1 . Suppose there is a possible escape time T i2 that the error signal r i escapes from the domain of interest.…”

Section: Performance Analysismentioning

confidence: 84%

“…Robust control and adaptive control are two typical approaches for reference tracking control. [34][35][36]41,44 Generally speaking, the robust control techniques require more prior knowledge such as the bounding functions of the uncertainties, whereas the adaptive control techniques require more computational cost and may suffer from bad transient performance. In this study, we design a local robust tracking controller for each follower agent, by adopting a nonlinear robustifying term with a state dependent nonlinear gain which should be taken into account in the ETM (32) and (33) for control update.…”

Section: Local Event-triggered Controllers For Consensus Trackingmentioning

confidence: 99%

“…Assumptions 3 and 4 are common in the literature of adaptive and nonlinear control. 36,41,44 The bounding function d fi (x i ) is often used as the state dependent gain of a nonlinear damping term.…”

Section: Event-triggered Robust Controllersmentioning

confidence: 99%

“…The reported leader-following cooperative control algorithms 34,35 while delivering excellent results, have to treat the nonlinear uncertainties and the communication graph related matrices simultaneously and hence seem to be very complicated. In Yang, 41 to avoid this problem, in each follower agent, by exploiting the feature of the cascaded integrators representing the reference states of the leader, a group of distributed and cascaded finite-time estimators is constructed for estimating the reference trajectory and its high-order derivatives. Then by utilizing the estimated reference states, in each agent, a robust controller is designed so that the agent's states track the estimated reference states with an arbitrarily small ultimate error bound in the presence of both multiplicative and additive nonlinear uncertainties.…”

Section: Introductionmentioning

confidence: 99%

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Robust event‐triggered consensus tracking control of high‐order uncertain nonlinear systems

Yang

Takei

2021

Intl J Robust & Nonlinear

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This work considers the problem of distributed event-triggered consensus tracking control of multiple high-order uncertain nonlinear systems on a connected graph where the leader's reference information is sent to only a portion of the followers. The communication among the agents and the local control update are performed based on different event-triggering mechanisms which possess different triggering conditions and work independently. To facilitate consensus tracking control design, in each follower agent of the network, a group of distributed and cascaded estimators is constructed for estimating the reference trajectory and its high-order derivatives by event-triggered information exchange among the local neighbors on the communication graph. Theoretical analysis shows that the estimation errors of the reference states decay within a very short time to the neighborhood of the origin and that the Zeno behavior is excluded. Then by utilizing the estimated reference states, in each agent, a local event-triggered robust controller including a nonlinear robustifying term with a state signal dependent gain is proposed. The triggering condition is derived by taking the time-varying control gain into account, and the tracking performance of the local controller is rigorously analyzed. Furthermore, it is shown that the Zeno behavior is also excluded. Finally, simulation examples are provided to demonstrate the performance of the reference estimators and that of the consensus tracking controllers.

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Section: Performance Analysismentioning

confidence: 84%

Section: Local Event-triggered Controllers For Consensus Trackingmentioning

confidence: 99%

Section: Event-triggered Robust Controllersmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robust event‐triggered consensus tracking control of high‐order uncertain nonlinear systems

Yang

Takei

2021

Intl J Robust & Nonlinear

Self Cite

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“…For instance, Bai et al used graph theory and performed a fractional stability analysis to study the consensus of the fractional multi-agent system (quality) in a reference state [16]. Yang designed a robust controller to solve the distributed consensus tracking control problem of high-order uncertain nonlinear systems on directed graphs [17]. Wu and Su investigated the positive relationship of edges with multi-input and multi-output positive dynamics for directed and undirected networks [18].…”

Section: Introductionmentioning

confidence: 99%

Virtual Line Shafting-Based Total-Amount Coordinated Control of Multi-Motor Traction Power

Chen

Mao

et al. 2020

Journal of Advanced Transportation

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This paper investigates a virtual line shafting-based total-amount coordinated control method of multi-motor traction power to solve the traffic safety problem caused by train traction power loss. This method considers the total amount instead of the synchronous control amongst single motors in a multi-motor control system. Firstly, a block diagram of the proposed method is built. Secondly, on the basis of this diagram, an accurate system model with parameter perturbations is constructed. Thirdly, a virtual controller is designed to quickly adjust the output torque of the virtual motor and to realise a tracking control of the reference torque. A total-amount coordinated control strategy based on the integral sliding mode is also designed to keep the total traction power of the multi-motor system constant under uncertain and unknown disturbances. Lyapunov stability theory is used to prove the system stability. The simulation and experiment results verify the effectiveness of the virtual controller and the total-amount coordinated control strategy in guaranteeing system robustness under disturbances and parameter perturbations.

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Observer-based Finite-time Model Reference Adaptive State Tracking Control with Actuator Saturation

Wang

Zhang

et al. 2020

Int. J. Control Autom. Syst.

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Robust consensus tracking control of higher‐order uncertain non‐linear systems via cascaded finite‐time estimation of reference states

Cited by 4 publications

References 28 publications

Robust event‐triggered consensus tracking control of high‐order uncertain nonlinear systems

Robust event‐triggered consensus tracking control of high‐order uncertain nonlinear systems

Virtual Line Shafting-Based Total-Amount Coordinated Control of Multi-Motor Traction Power

Observer-based Finite-time Model Reference Adaptive State Tracking Control with Actuator Saturation

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