scholarly journals Impulsive Flocking of Dynamical Multiagent Systems with External Disturbances

2017 ◽  
Vol 2017 ◽  
pp. 1-6
Author(s):  
Fujun Han ◽  
Yize Yang ◽  
Hong-Yong Yang
Keyword(s):  
Multiagent Systems ◽  
Disturbance Observer ◽  
Impulsive Control ◽  
Sufficient Condition ◽  
Complex Environment ◽  
Theoretical Conclusion ◽  
External Disturbances ◽  
Exogenous Disturbances ◽  
Simulation Results ◽  
Flocking Motion

Flocking motion of multiagent systems is influenced by various external disturbances in complex environment. By applying disturbance observer, flocking of multiagent systems with exogenous disturbances is studied. Based on the robust features of impulsive control, a distributed impulsive control protocol is presented with disturbance observer, and flocking motion of multiagent systems is analyzed. Moreover, a sufficient condition is obtained to ensure the flocking motion of multiagent systems following a leader. Finally, simulation results show the validity of the theoretical conclusion.

Design of Improved Disturbance Observer for Stabilized Platform Servo System

2013 ◽  
Vol 300-301 ◽  
pp. 1209-1213
Author(s):  
Jian Shan Lu ◽  
Chang Ming Wang ◽  
Ai Jun Zhang ◽  
Xiang Fei Meng
Keyword(s):  
Robust Stability ◽  
Disturbance Observer ◽  
Servo System ◽  
Control Signal ◽  
Measurement Noise ◽  
Tracking Performance ◽  
External Disturbances ◽  
Additional Control ◽  
Simulation Results ◽  
Stabilized Platform

In order to reduce the influence of frictional interference and measurement noise on stabilized platform tracking performance, disturbance observer (DOB) is applied to platform servo system. In view of the non-ideal performance of classical disturbance observer about suppressing measurement noise, a novel improved DOB which uses an additional control signal to compensate system outputs is proposed based on the structure of classical DOB, and robust stability of the improved DOB when existing model perturbation is analyzed in detail. Simulation results show that the improved DOB can suppress external disturbances and model perturbation well, and the suppression performance of measurement noise is improved, too.

scholarly journals Fast Consensus Tracking of Multiagent Systems with Diverse Communication Delays and Input Delays

2014 ◽  
Vol 2014 ◽  
pp. 1-10
Author(s):  
Chun-xi Yang ◽  
Wei-xing Hong ◽  
Ling-yun Huang ◽  
Hua Wang
Keyword(s):  
Genetic Algorithm ◽  
Multiagent Systems ◽  
Frequency Domain Analysis ◽  
Convergence Speed ◽  
Sufficient Condition ◽  
Communication Delays ◽  
Tracking Problem ◽  
Consensus Tracking ◽  
Simulation Results ◽  
Input Delays

The consensus tracking problem for discrete-time multiagent systems with input and communication delays is studied. A sufficient condition is obtained over a directed graph based on the frequency-domain analysis. Furthermore, a fast decentralized consensus tracking conditions based on incrementPIDalgorithm are discussed for improving convergence speed of the multiagent systems. Based on this result, genetic algorithm is introduced to construct incrementPIDbased on genetic algorithm for obtaining optimization consensus tracking performance. Finally, a numerable example is given to compare convergence speed of three tracking algorithms in the same condition. Simulation results show the effectiveness of the proposed algorithm.

scholarly journals Bipartite Consensus of Linear Discrete-Time Multiagent Systems with Exogenous Disturbances under Competitive Networks

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Yi Yuan ◽  
Shamrie Sainin Mohd ◽  
Yanhui Zhu
Keyword(s):  
Numerical Simulations ◽  
Multiagent Systems ◽  
Discrete Time ◽  
Output Feedback ◽  
Disturbance Observer ◽  
State Feedback ◽  
The State ◽  
Exogenous Disturbances ◽  
Bipartite Consensus ◽  
The Given

This paper investigates the bipartite consensus of linear discrete-time multiagent systems (MASs) with exogenous disturbances. A discrete-time disturbance-observer- (DTDO-) based technology is involved for attenuating the exogenous disturbances. And both the state feedback and observer-based output feedback bipartite consensus protocols are proposed by using the DTDO method. It turned out that bipartite consensus can be realized under the given protocols if the topology is connected and structurally balanced. Finally, numerical simulations are presented to illustrate the theoretical findings.

scholarly journals Distributed Coordination of Fractional Dynamical Systems with Exogenous Disturbances

2014 ◽  
Vol 2014 ◽  
pp. 1-7 ◽  
Author(s):  
Hongyong Yang ◽  
Fujun Han ◽  
Fei Liu ◽  
Huixia Liu ◽  
Mei Zhao
Keyword(s):  
Dynamical Systems ◽  
Multiagent Systems ◽  
State Observer ◽  
The State ◽  
Distributed Coordination ◽  
External Disturbances ◽  
Reference Tracking ◽  
Exogenous Disturbances ◽  
The Stability ◽  
Fractional Dynamical System

Distributed coordination of fractional multiagent systems with external disturbances is studied. The state observer of fractional dynamical system is presented, and an adaptive pinning controller is designed for a little part of agents in multiagent systems without disturbances. This adaptive pinning controller with the state observer can ensure multiple agents' states reaching an expected reference tracking. Based on disturbance observers, the controllers are composited with the pinning controller and the state observer. By applying the stability theory of fractional order dynamical systems, the distributed coordination of fractional multiagent systems with external disturbances can be reached asymptotically.

scholarly journals Distributed Coordination Control of First- and Second-Order Multiagent Systems with External Disturbances

2015 ◽  
Vol 2015 ◽  
pp. 1-7 ◽  
Author(s):  
Lipo Mo ◽  
Tingting Pan ◽  
Shaoyan Guo ◽  
Yuguang Niu
Keyword(s):  
Control Problem ◽  
Multiagent Systems ◽  
Model Transformation ◽  
Sufficient Conditions ◽  
Second Order ◽  
Distributed Coordination ◽  
Coordination Control ◽  
External Disturbances ◽  
Simulation Results ◽  
Control Output

This paper is devoted to the coordination control problem of heterogeneous first- and second-order multiagent systems with external disturbances. First, by applying the theory of eigenvalue and the method of model transformation, the consensus state of heterogeneous multiagent systems is obtained. Then, based on the consensus state, the control output is defined, and sufficient conditions are derived to make all agents reach consensus withH∞performance. Finally, simulation results are provided to demonstrate the effectiveness of the presented results.

Robust finite-time trajectory tracking control for a space manipulator with parametric uncertainties and external disturbances

2021 ◽  
pp. 095441002110147
Author(s):  
Qijia Yao
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Space Manipulator ◽  
Tracking Controller

Space manipulator is considered as one of the most promising technologies for future space activities owing to its important role in various on-orbit serving missions. In this study, a robust finite-time tracking control method is proposed for the rapid and accurate trajectory tracking control of an attitude-controlled free-flying space manipulator in the presence of parametric uncertainties and external disturbances. First, a baseline finite-time tracking controller is designed to track the desired position of the space manipulator based on the homogeneous method. Then, a finite-time disturbance observer is designed to accurately estimate the lumped uncertainties. Finally, a robust finite-time tracking controller is developed by integrating the baseline finite-time tracking controller with the finite-time disturbance observer. Rigorous theoretical analysis for the global finite-time stability of the whole closed-loop system is provided. The proposed robust finite-time tracking controller has a relatively simple structure and can guarantee the position and velocity tracking errors converge to zero in finite time even subject to lumped uncertainties. To the best of the authors’ knowledge, there are really limited existing controllers can achieve such excellent performance under the same conditions. Numerical simulations illustrate the effectiveness and superiority of the proposed control method.

Formation Tracking for Linear Multiagent Systems Based on Adaptive Disturbance Observer

2021 ◽  
Author(s):  
Zhang Zixuan ◽  
Dong Wei ◽  
Wang Chunyan ◽  
Wang Jianan ◽  
Ding Zhengtao
Keyword(s):  
Multiagent Systems ◽  
Disturbance Observer ◽  
Formation Tracking

scholarly journals Event-Triggered Consensus Control for Leader-Following Multiagent Systems Using Output Feedback

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Yang Liu ◽  
Xiaohui Hou
Keyword(s):  
Multiagent Systems ◽  
Output Feedback ◽  
Output Signal ◽  
Internal State ◽  
Disturbance Attenuation ◽  
External Disturbances ◽  
Consensus Control ◽  
State Information ◽  
Leader Following ◽  
Event Triggered

The event-triggered consensus control for leader-following multiagent systems subjected to external disturbances is investigated, by using the output feedback. In particular, a novel distributed event-triggered protocol is proposed by adopting dynamic observers to estimate the internal state information based on the measurable output signal. It is shown that under the developed observer-based event-triggered protocol, multiple agents will reach consensus with the desired disturbance attenuation ability and meanwhile exhibit no Zeno behaviors. Finally, a simulation is presented to verify the obtained results.

scholarly journals Design of Composite Disturbance Observer and Continuous Terminal Sliding Mode Control for Piezoelectric Nanopositioning Stage

Electronics ◽  
2021 ◽  
Vol 10 (18) ◽  
pp. 2242
Author(s):  
Pengyu Qiao ◽  
Jun Yang ◽  
Chen Dai ◽  
Xi Xiao
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Accurate Estimation ◽  
Terminal Sliding Mode Control ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Composite Control ◽  
Mode Control

The nonlinearities of piezoelectric actuators and external disturbances of the piezoelectric nanopositioning stage impose great, undesirable influences on the positioning accuracy of nanopositioning stage systems. This paper considers nonlinearities and external disturbances as a lumped disturbance and designs a composite control strategy for the piezoelectric nanopositioning stage to realize ultra-high precision motion control. The proposed strategy contains a composite disturbance observer and a continuous terminal sliding mode controller. The composite disturbance observer can estimate both periodic and aperiodic disturbances so that the composite control strategy can deal with the disturbances with high accuracy. Meanwhile, the continuous terminal sliding mode control is employed to eliminate the chattering phenomenon and speed up the convergence rate. The simulation and experiment results show that the composite control strategy achieves accurate estimation of different forms of disturbances and excellent tracking performance.

scholarly journals Impulsive Consensus for Leader-Following Multiagent Systems with Fixed and Switching Topology

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Zhi-Wei Liu ◽  
Zhi-Hong Guan ◽  
Hong Zhou
Keyword(s):  
Multiagent System ◽  
Impulsive Control ◽  
Sampling Period ◽  
Switching Topology ◽  
Sufficient Condition ◽  
Leader Following ◽  
Fixed Topology ◽  
The Stability ◽  
Sampling Instant ◽  
Necessary And Sufficient

This paper studied the consensus problem of the leader-following multiagent system. It is assumed that the state information of the leader is only available to a subset of followers, while the communication among agents occurs at sampling instant. To achieve leader-following consensus, a class of distributed impulsive control based on sampling information is proposed. By using the stability theory of impulsive systems, algebraic graph theory, and stochastic matrices theory, a necessary and sufficient condition for fixed topology and sufficient condition for switching topology are obtained to guarantee the leader-following consensus of the multiagent system. It is found that leader-following consensus is critically dependent on the sampling period, control gains, and interaction graph. Finally, two numerical examples are given to illustrate the effectiveness of the proposed approach and the correctness of theoretical analysis.

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