Ternary and hybrid controllers for the rendezvous of unicycles

Jafarian, Matin

doi:10.1109/cdc.2015.7402559

Cited by 6 publications

(12 citation statements)

References 15 publications

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“…The generalization of the result to the case, where binary and ternary quantizers are used, can be found in [12], [13], [22].…”

Section: A Multi-agent Consensusmentioning

confidence: 99%

“…Such constraints may be encountered due to the limitation of digital communication [6], [7] or due to the limitation of the mechanical design of the system such as the use of fixed set of discrete actuation systems in Ocean Grazer wave energy converter [8], [9]. Designs, analysis, and numerical implementation of control laws for such networked systems have also received considerable attention in the literature, see for example [10]- [13].…”

Section: Introductionmentioning

confidence: 99%

“…Particularly, it is 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. As a comparison, using the q-ary quantizers 2 [12], [13], [22], where q input values per input dimension are defined, the stabilization of the systems requires whose cardinality is q m (or q m + 1 if the zero element is not in the range of the q-ary quantizers).…”

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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“…The generalization of the result to the case, where binary and ternary quantizers are used, can be found in [12], [13], [22].…”

Section: A Multi-agent Consensusmentioning

confidence: 99%

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 comparison with , where a hybrid design has been introduced based on uniform quantizers for the consensus of the positions of single integrators, we present a different hybrid quantizer. The differences of our design include the jump mechanism (discrete transitions) and the design of flow and jump sets. For the network of unicycles with the ternary controllers, we study the disturbance rejection problem in a hybrid framework and prove an asymptotic consensus despite the presence of the matched input disturbances.A partial and preliminary version of this paper without the results of disturbance rejection has been presented in .The outline of this paper is as follows. First, we recall some preliminaries on graph theory, hybrid time‐domain framework, and analytical tools for nonsmooth systems.…”

Section: Introductionmentioning

confidence: 99%

“…A partial and preliminary version of this paper without the results of disturbance rejection has been presented in .…”

Section: Introductionmentioning

confidence: 99%

Robust consensus of unicycles using ternary and hybrid controllers

Jafarian

2017

Intl J Robust & Nonlinear

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Summary This paper presents consensus of the orientations and average positions for a group of unicycles using ternary and hybrid controllers. The decentralized controllers designed to reach consensus of the average positions take only values in the set {−1,0,+1}. In addition, a hybrid controller is introduced to control the orientations. Finite‐time practical consensus of the average positions is proven despite the simple ternary control laws together with asymptotic consensus of the orientations. Furthermore, the consensus problem is studied in the presence of matched input disturbances that are locally rejected using an internal‐model‐based controller. The analysis is performed in a hybrid framework. Simulation results illustrate the effectiveness of the design. Copyright © 2017 John Wiley & Sons, Ltd.

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