scholarly journals Consensus of Multiagent System in the Sense of Curvature and Torsion

2019 ◽  
Vol 2019 ◽  
pp. 1-11
Author(s):  
Jinping Mou
Keyword(s):  
Multiagent System ◽  
Closed Loop ◽  
Sufficient Conditions ◽  
Loop System ◽  
Curvature Function ◽  
Consensus Problem ◽  
Closed Loop System ◽  
Consensus Protocol ◽  
Curvature And Torsion ◽  
Unit Vectors

In this paper, the consensus problem is investigated for a distributed multiagent system (MAS), where the consensus is characterized by curvature function and torsion function. According to the Frenet-Serret formulas, a distributed consensus protocol is designed for the tangent, normal, and binormal unit vectors of trajectory of each agent, and then it gets a closed-loop system. Based on the Lyapunov function, several sufficient conditions for consensus are derived for the closed-loop system. Also the consensus problem of multiagent system on a surface is studied. Finally, the numerical examples show the reliability of the proposed methods.

scholarly journals Curvature- and Torsion-Based Consensus for the Markovian Switching Multiagent System with Communication of Noise Disturbance and Time Delay

2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Jinping Mou ◽  
Dongbing Tong ◽  
Xianyi Shao ◽  
Huafeng Ge ◽  
Yiling Lv
Keyword(s):  
Time Delay ◽  
Multiagent System ◽  
Closed Loop ◽  
Lyapunov Method ◽  
Loop System ◽  
Markovian Switching ◽  
Consensus Problem ◽  
Closed Loop System ◽  
Communication Behaviors ◽  
Curvature And Torsion

This paper investigates the consensus problem for the distributed multiagent system (MAS), where the trajectory of each agent is displayed by curvature and torsion, and the communication behaviors among agents are influenced by time delay and corrupted by noises. According to the Frenet–Serret formulas, a class of consensus protocols is designed for all agents, and a closed-loop system is obtained. Based on the Lyapunov method, several consensus criteria are derived, where the consensus criteria are characterized by curvature functions and torsion functions. Finally, one example shows the reliability of the proposed methods.

P-D Feedback for Decoupling and Pole Assignment of Singular Systems

1998 ◽  
Vol 120 (3) ◽  
pp. 378-388 ◽  
Author(s):  
F. N. Koumboulis ◽  
B. G. Mertzios
Keyword(s):  
Closed Loop ◽  
Singular Systems ◽  
Sufficient Conditions ◽  
Pole Assignment ◽  
Loop System ◽  
Necessary And Sufficient Conditions ◽  
Algebraic Equations ◽  
Input Output ◽  
Closed Loop System ◽  
Necessary And Sufficient

The problem of reducing a multi input-multi output system to many single input-single output systems, namely the problem of input-output decoupling, is studied for the case of singular systems i.e., for systems described by dynamic and algebraic equations. The problem of input-output decoupling with simultaneous arbitrary pole assignment, via proportional plus derivative (P-D) state feedback, is extensively solved. The general explicit expression of all P-D controllers solving the decoupling problem is determined. The general form of the diagonal elements of the decoupled closed-loop system is proven to be in a form having a fixed numerator polynomial and an arbitrary denominator polynomial. The necessary and sufficient conditions for the solvability of the problem of decoupling with simultaneous asymptotic stabilizability or arbitrary pole assignment are established. Furthermore, the necessary and sufficient conditions for decoupling with simultaneous impulse elimination, as well as the necessary and sufficient conditions for decoupling with arbitrary assignment of the finite and infinite poles of the closed-loop system, are established.

Event-triggered Hꝏ control for NCS with time-delay and packet losses

2019 ◽  
Vol 37 (3) ◽  
pp. 918-934
Author(s):  
Jing Bai ◽  
Ying Wang ◽  
Li-Ying Zhao
Keyword(s):  
Time Delay ◽  
Closed Loop ◽  
Discrete Event ◽  
Sufficient Conditions ◽  
Loop System ◽  
Linear Matrix ◽  
Time Varying ◽  
Closed Loop System ◽  
Packet Losses ◽  
Event Triggered

Abstract This paper is concerned with the discrete event-triggered dynamic output-feedback ${H}_{\infty }$ control problem for the uncertain networked control system, where the time-varying sampling, network-induced delay and packet losses are taken into account simultaneously. The random packet losses are described via the Bernoulli distribution. And then, the closed-loop system is modelled as an augmented time-delay system with interval time-varying delay. By using the Lyapunov stability theory and the augmented state space method, the sufficient conditions for the asymptotic stability of the closed-loop system are proposed in the form of linear matrix inequalities. At the same time, the design method of the ${H}_{\infty }$ controller is created. Finally, a numerical example is employed to illustrate the effectiveness of the proposed method.

Output Feedback Algorithm for Nonlinear Systems with Compensation of Bounded Disturbances and Measurement Noises

2019 ◽  
Vol 20 (1) ◽  
pp. 3-15 ◽  
Author(s):  
I. B. Furtat ◽  
P. A. Gushchin ◽  
A. A. Peregudin
Keyword(s):  
Output Feedback ◽  
Closed Loop ◽  
Sufficient Conditions ◽  
Loop System ◽  
Partial Recovery ◽  
Closed Loop System ◽  
External Disturbances ◽  
Control Schemes ◽  
Measurement Noises ◽  
Feedback Algorithm

The output feedback algorithm for dynamic plants with compensation of parametric uncertainty, external disturbances and measurement noises is synthesized. The plants are described by a nonlinear system of differential equations with vector input and output signals. Unlike most existing control schemes in this paper the dimensions of the measurement interference and the output signal are equal, the sources of the signals of disturbances and disturbances are different, parametric and external disturbances can be present in any equation of the plant model. For simultaneous compensation of disturbances and measurement noises it is proposed to consider two channels. On the first channel a part of the measurement noises will be estimated which will allow partial recovery the information about the plant noisy output. On the second channel the disturbances will be compensated. Thus, at least two independent measurement channels are required for simultaneous compensation of disturbances and measurement noises. Sufficient conditions for calculating the parameters of the algorithm in the form of solvability of the linear matrix inequality are obtained. It is shown that the equation of a closed-loop system obtained on the basis of the proposed algorithm depends on the disturbances and the smallest component of the measurement noise. However, if the smallest component cannot be identified a priory, the results of the transients depend on the component of the noise that will be selected in the synthesis of the control system. Thus, unlike most existing control schemes, where the equation of a closed-loop system depends on disturbance and noise, the resulting algorithm provides better transients, because they do not depend on the entire noise vector, but only on its smallest (one) component. The simulations for a third-order nonlinear plant and the synchronization of an electrical generator connected to the power grid are presented. Numerical examples illustrate the effectiveness of the proposed scheme and the robustness with respect to random components in the noises and disturbances.

Robust nonfragile observer-based H2/H∞ controller

2016 ◽  
Vol 24 (4) ◽  
pp. 722-738 ◽  
Author(s):  
Atta Oveisi ◽  
Tamara Nestorović
Keyword(s):  
Control System ◽  
Real Time ◽  
Closed Loop ◽  
Linear Time ◽  
Sufficient Conditions ◽  
Loop System ◽  
Linear Matrix ◽  
Closed Loop System ◽  
Real Time System ◽  
Structured Uncertainty

A robust nonfragile observer-based controller for a linear time-invariant system with structured uncertainty is introduced. The [Formula: see text] robust stability of the closed-loop system is guaranteed by use of the Lyapunov theorem in the presence of undesirable disturbance. For the sake of addressing the fragility problem, independent sets of time-dependent gain-uncertainties are assumed to be existing for the controller and the observer elements. In order to satisfy the arbitrary H2-normed constraints for the control system and to enable automatic determination of the optimal [Formula: see text] bound of the performance functions in disturbance rejection control, additional necessary and sufficient conditions are presented in a linear matrix equality/inequality framework. The [Formula: see text] observer-based controller is then transformed into an optimization problem of coupled set of linear matrix equalities/inequality that can be solved iteratively by use of numerical software such as Scilab. Finally, concerning the evaluation of the performance of the controller, the control system is implemented in real time on a mechanical system, aiming at vibration suppression. The plant under study is a multi-input single-output clamped-free piezo-laminated smart beam. The nominal mathematical reduced-order model of the beam with piezo-actuators is used to design the proposed controller and then the control system is implemented experimentally on the full-order real-time system. The results show that the closed-loop system has a robust performance in rejecting the disturbance in the presence of the structured uncertainty and in the presence of the unmodeled dynamics.

scholarly journals H∞ Tracking Control of Fuzzy Dynamic Output for Nonlinear Networked System with Packet Dropouts

2018 ◽  
Vol 2018 ◽  
pp. 1-10
Author(s):  
Yang Wang ◽  
Jinna Li ◽  
Xiaolei Ji
Keyword(s):  
Output Feedback ◽  
Tracking Control ◽  
Closed Loop ◽  
Reference Model ◽  
Sufficient Conditions ◽  
Fuzzy Model ◽  
Loop System ◽  
Dynamic Output Feedback ◽  
Closed Loop System ◽  
Dynamic Output

The tracking control of H∞ dynamic output feedback is proposed for the fuzzy networked systems of the same category, in which each system is discrete-time nonlinear and is missing measurable data. In other words, the loss of data packet occurs randomly in both the uplink and the downlink. The independent variables that are called the Bernoulli random variables are considered to design the loss of data packets. The method of parallel distributed compensation (PDC) in terms of the T-S fuzzy model is applied to investigate the dynamic controller of tracking control on the systems. Then, it is presented that the analytical H∞ performance of the output error between the reference model and the fuzzy model for the closed-loop system containing dynamic output feedback controller is proven. Furthermore, the achieved sufficient conditions in terms of LMIs ensure that the closed-loop system is stochastically stable in the H∞ sense. Finally, a numerical system is offered to show the effectiveness of the established technique.

An Approach to Telerobotic Manipulations

1997 ◽  
Vol 119 (3) ◽  
pp. 431-438 ◽  
Author(s):  
H. Kazerooni ◽  
C. L. Moore
Keyword(s):  
Closed Loop ◽  
Control Method ◽  
Sufficient Conditions ◽  
Human Robot Interaction ◽  
Loop System ◽  
Robotic Manipulation ◽  
Closed Loop System ◽  
Robot Interaction ◽  
Minimum Number ◽  
The Stability

This article introduces three areas of study: 1 telefunctioning; 2 a control method for producing telefunctioning; and 3 an analysis of human-robot interaction when telefunctioning governs the system behavior. Telefunctioning facilitates the maneuvering of loads by creating a perpetual sense of the load dynamics for the operator. Telefunctioning is defined as a robotic manipulation method in which the dynamic behaviors of the slave robot and the master robot are functions of each other; these functions are the designer’s choice and depend on the application. (In a subclass of telefunctioning currently referred to as telepresence, these functions are specified as “unity” so that the master and slave variables (e.g., position, velocity) are dynamically equal.) To produce telefunctioning, this work determines a minimum number of functions relating the robots’ variables, and then develops a control architecture which guarantees that the defined functions govern the dynamic behavior of the closed-loop system. The stability of the closed-loop system (i.e., master robot, slave robot, human, and the load being manipulated) is analyzed and sufficient conditions for stability are derived.

Output Feedback Control for a Class of Switched Fuzzy Systems

2014 ◽  
Vol 536-537 ◽  
pp. 1170-1173
Author(s):  
Hong Yang ◽  
Huan Huan Lü ◽  
Le Zhang
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Fuzzy Systems ◽  
Closed Loop ◽  
Sufficient Conditions ◽  
Output Feedback Control ◽  
Loop System ◽  
Asymptotically Stable ◽  
Closed Loop System ◽  
Switching Law

The output feedback control problem is addressed for a class of switched fuzzy Systems. Using multiple Lyapunov function method and switching law, the relevant closed-loop system is asymptotically stable, with the switching law designed to implement the global asymptotic stability. The sufficient conditions to ensure the output feedback asymptotically stable output feedback control of closed-loop system are studied. The sufficient condition is transformed into Linear Matrix Inequality (LMI) problem which are more solvable. Finally, a numerical simulation example is employed to illustrate the effectiveness and the convergence of the design methodologies.

On sensor quantization in linear control systems: Krasovskii solutions meet semidefinite programming

2019 ◽  
Vol 37 (2) ◽  
pp. 395-417 ◽  
Author(s):  
Francesco Ferrante ◽  
Frédéric Gouaisbaut ◽  
Sophie Tarbouriech
Keyword(s):  
Control Systems ◽  
Closed Loop ◽  
Sufficient Conditions ◽  
Loop System ◽  
State Feedback Control ◽  
Linear Control Systems ◽  
Compact Set ◽  
Closed Loop System ◽  
Feedback Control Systems ◽  
Linear State

Abstract Stability and stabilization for linear state feedback control systems in the presence of sensor quantization are studied. As the closed-loop system is described by a discontinuous right-hand side differential equation, Krasovskii solutions (to the closed-loop system) are considered. Sufficient conditions in the form of matrix inequalities are proposed to characterize uniform global asymptotic stability of a compact set containing the origin. Such conditions are shown to be always feasible whenever the quantization-free closed-loop system is asymptotically stable. Building on the obtained conditions, computationally affordable algorithms for the solution to the considered problems are illustrated. The effectiveness of the proposed methodology is shown in three examples.

scholarly journals On exponential stabilizability of linear neutral systems

2001 ◽  
Vol 7 (1) ◽  
pp. 67-86 ◽  
Author(s):  
Xavier Dusser ◽  
Rabah Rabah
Keyword(s):  
Closed Loop ◽  
Sufficient Conditions ◽  
Exact Controllability ◽  
Loop System ◽  
Neutral System ◽  
Closed Loop System ◽  
Control Operator ◽  
Infinite Dimensional ◽  
Functional Differential Systems ◽  
Functional Differential

In this paper, we deal with linear neutral functional differential systems. Using an extended state space and an extended control operator, we transform the initial neutral system in an infinite dimensional linear system. We give a sufficient condition for admissibility of the control operatorB, conditions under which operatorBcan be acceptable in order to work with controllability and stabilizability. Necessary and sufficient conditions for exact controllability are provided; in terms of a gramian of controllabilityN(μ). Assuming admissibility and exact controllability, a feedback control law is defined from the inverse of the operatorN(μ)in order to stabilize exponentially the closed loop system. In this case, the semigroup generated by the closed loop system has an arbitrary decay rate.

Sign in / Sign up

Export Citation Format

Share Document