scholarly journals Navigational Protocols of Formation Control for Multiagent Network with and without Nonlinear Dynamics

2018 ◽  
Vol 2018 ◽  
pp. 1-7
Author(s):  
Shaolin Li ◽  
Yinghui He ◽  
Lili Zhang
Keyword(s):  
Nonlinear Dynamics ◽  
Control Problem ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Formation Control ◽  
Lyapunov Stability Theory ◽  
Numerical Examples ◽  
Current Location ◽  
Multiagent Networks ◽  
The Difference

Formation control problem for multiagent networks is investigated under the framework of leader-follower consensus. By utilizing the Lyapunov stability theory, two navigational protocols for multiagent network without and with nonlinear dynamics are derived to realize formation control, respectively. In order to achieve the expected formation, controller is adopted to each agent, and the design philosophies of control protocol are required to follow two rules: (i) the destinations of agent are required to be identified and communicating with each other through the network; (ii) at least one agent is needed to be navigator which can detect the difference between its current location and destination. Finally, the two numerical examples are provided to demonstrate the effectiveness of the proposed navigational protocols.

scholarly journals Synchronization Analysis of Two Coupled Complex Networks with Time Delays

2011 ◽  
Vol 2011 ◽  
pp. 1-12 ◽  
Author(s):  
Weigang Sun ◽  
Jingyuan Zhang ◽  
Changpin Li
Keyword(s):  
Theoretical Analysis ◽  
Complex Networks ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Time Delays ◽  
Lyapunov Stability Theory ◽  
Linear Matrix ◽  
Numerical Examples ◽  
Outer Synchronization ◽  
Matrix Equality

This paper studies the synchronized motions between two complex networks with time delays, which include individual inner synchronization in each network and outer synchronization between two networks. Based on the Lyapunov stability theory and the linear matrix equality (LMI), a synchronous criterion for inner synchronization inside each network is derived. Numerical examples are given which fit the theoretical analysis. In addition, the involved numerical results show that the delays between two networks have little effect on inner synchronization. It is also shown that synchronous motions within each network or between two networks are not enhanced if individual intranetwork connections are allowed.

scholarly journals Intermittent Control for Cluster-Delay Synchronization in Directed Networks

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Jianbao Zhang ◽  
Yi Wang ◽  
Zhongjun Ma ◽  
Jianlong Qiu ◽  
Fawaz Alsaadi
Keyword(s):  
Lyapunov Stability ◽  
Stability Theory ◽  
Recent Literature ◽  
Sufficient Conditions ◽  
Lyapunov Stability Theory ◽  
Directed Network ◽  
Intermittent Control ◽  
Numerical Examples ◽  
Control Protocol ◽  
Control Schemes

We investigate cluster-delay synchronization of a directed network possessing cluster structures by designing an intermittent control protocol. Based on Lyapunov stability theory, we proved that synchronization can be realized for oscillators in the same cluster and cluster-delay synchronization can be realized for the whole network. By simplifying the obtained sufficient conditions, we carry out a succinct and utilitarian corollary. In addition, comparative researches are carried out to show the differences and the usefulness of the obtained results with respect to other similar controllers from the recent literature. Finally we provide two numerical examples to show the effectiveness of the control schemes.

Fixed-time tracking control for two-link rigid manipulator based on disturbance observer

2021 ◽  
pp. 014233122098363
Author(s):  
Heli Gao ◽  
Mou Chen
Keyword(s):  
Numerical Simulations ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Inverse Dynamics ◽  
External Disturbance ◽  
Lyapunov Stability Theory ◽  
Fixed Time ◽  
Extended State

This paper studies the fixed-time disturbance estimate and tracking control for two-link manipulators subjected to external disturbance. A fixed-time extended-state disturbance observer (FxTESDO) is proposed by improving the extended state observer. Also, a fixed-time inverse dynamics tracking control (FxTIDTC) scheme based on the FxTESDO is given for two-link manipulators. The fixed-time convergence of the FxTESDO and FxTIDTC is proved by the Lyapunov stability theory and with the aid of the bi-limit homogeneous technique. Numerical simulations are employed to illustrate the effectiveness of the proposed FxTIDTC.

scholarly journals Lyapunov stability theory for dynamic systems on time scales

1992 ◽  
Vol 5 (3) ◽  
pp. 275-281 ◽  
Author(s):  
Billur Kaymakçalan
Keyword(s):  
Time Scales ◽  
Lyapunov Stability ◽  
Comparison Principle ◽  
Dynamic Systems ◽  
Stability Theory ◽  
Lyapunov Stability Theory ◽  
Existence Theory ◽  
Lyapunov’S Second Method ◽  
Stability Results

By use of the necessary calculus and the fundamental existence theory for dynamic systems on time scales, in this paper, we develop Lyapunov's second method in the framework of general comparison principle so that one can cover and include several stability results for both types of equations at the same time.

An Adaptive Chaos Synchronization with Controller and Secure Communication

2013 ◽  
Vol 401-403 ◽  
pp. 1657-1660
Author(s):  
Bin Zhou ◽  
Xiang Wang ◽  
Yu Gao ◽  
Shao Cheng Qu
Keyword(s):  
Adaptive Control ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Secure Communication ◽  
Chaos Synchronization ◽  
Lyapunov Stability Theory ◽  
Adaptive Controller ◽  
Adaptive Synchronization ◽  
Sufficient Condition ◽  
Control Parameters

An adaptive controller with adaptive rate is presented to synchronize two chaos systems and to apply to secure communication. Based on Lyapunov stability theory, a sufficient condition and adaptive control parameters are obtained. Finally, the simulation with synchronization and secure communication is given to show the effectiveness of the proposed method. Keywords: adaptive; synchronization; observer; controller.

Analysis of Elastic Motion Stability of Flexible Manipulator Arm Based on Lyapunov Stability Theory

2014 ◽  
Vol 620 ◽  
pp. 321-329
Author(s):  
Guang Rui Liu ◽  
Wen Bo Zhou ◽  
Rong Fu Liu
Keyword(s):  
Lyapunov Stability ◽  
Stability Theory ◽  
Lagrange Equation ◽  
Lyapunov Stability Theory ◽  
The State ◽  
Flexible Manipulator ◽  
Rotational Inertia ◽  
Control Input ◽  
Motion Stability ◽  
Manipulator Arm

In order to study the elastic motion stability of flexible manipulator arm , to compute the maximum dynamic allowable payload , the partial differential equation of elastic motion of the flexible manipulator arm is solved using the method of Laplace transformation , the dynamic model of flexible manipulator arm carried addition mass on its end position is established ,simplified and truncated using Lagrange equation . the state space expression is established with the state variable and control input and output variable designated , the elastic motion stability rule is built upon and simplified using Lyapunov stability theory . The influence of the end position addition mass and articulation rotational inertia of flexible manipulator arm on its elastic motion stability is analyzed using the stability rule , and the dynamic maximum allowable payload of flexible manipulator arm on its end position is computed in order to guarantee its elastic motion stability . this study is important to the design of robot mechanical manipulator and corresponding drive control system .

scholarly journals Pinning synchronization of the drive and response dynamical networks with lag

2014 ◽  
Vol 24 (3) ◽  
pp. 257-270 ◽  
Author(s):  
Bohui Wen ◽  
Mo Zhao ◽  
Fanyu Meng
Keyword(s):  
Numerical Simulations ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Lyapunov Stability Theory ◽  
Schur Complement ◽  
Pinning Control ◽  
Lag Synchronization ◽  
Dynamical Networks ◽  
General Complex ◽  
Minimum Number

Abstract This paper investigates the pinning synchronization of two general complex dynamical networks with lag. The coupling configuration matrices in the two networks are not need to be symmetric or irreducible. Several convenient and useful criteria for lag synchronization are obtained based on the lemma of Schur complement and the Lyapunov stability theory. Especially, the minimum number of controllers in pinning control can be easily obtained. At last, numerical simulations are provided to verify the effectiveness of the criteria

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