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distributed adaptive perimeter control for large-scale urban road networks with delayed state interconnections

IFAC-PapersOnLine 2017年第1期50卷 5295-5300页

作者： Zheng Z. Haddad J. Technion Sustainable Mobility and Robust Transportation (T-SMART) Laboratory Faculty of Civil and Environmental Engineering Technion - Israel Institute of Technology Israel

distributed adaptive perimeter control is a promising paradigm for controlling large-scale road networks. Recently, coordinated distributed perimeter control of interconnected urban road regions has been developed in Haddad and Mirkin (2015). A Macroscopic Fundamental Diagram (MFD)-based model was utilized to describe the aggregate traffic flow dynamics, and model reference adaptive control was implemented to control the distributed perimeter controllers. Previous works, including Haddad and Mirkin (2015), implicitly postulated that during the control process, all needed information for computing are obtained in real time and processed instantly. However, collecting, processing, and uploading traffic data in a large-scale urban road networks impose time delays. Towards developing realistic aggregate models and improving perimeter control algorithms, the current paper aims at addressing the existence of such time delays. Hence, delayed state interconnections are incorporated in the dynamic equations to model data processing and communication delays between surrounding interconnected regions. Based on developed model, distributed perimeter control scheme in presence of time delays in interconnections is implemented. © 2017

关键词： delayed interconnections distributed adaptive control MFD

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distributed adaptive formation control of multi-agent systems with measurement noises?

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AUTOMATICA 2023年第1期150卷

作者： Liu, Yujing Liu, Zhixin Chinese Acad Sci Acad Math & Syst Sci Key Lab Syst & Control Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Math Sci Beijing 100049 Peoples R China

In this paper, we investigate the distributed adaptive formation control problem of leader-following multi-agent systems where the measurements are subject to noises. A distributed LMS-like algorithm is proposed to estimate the relative position between the followers and the leader. By employing the "certainty equivalence"principle, an adaptive motion controller is designed to achieve the desired formation under dynamically changing interaction topologies. The incompatibility in simultaneously satisfying the persistent excitation condition required by localization estimators and accomplishing the control tasks makes the theoretical analysis challenging. In order to deal with this issue, an excited noise signal is embedded into the control law. We give the upper bounds of both the estimation errors and formation error of the closed-loop multi-agent system under the distributed adaptive control law. Finally, the numerical simulations are provided to demonstrate the effectiveness of our theoretical results.(c) 2023 Elsevier Ltd. All rights reserved.

关键词： distributed adaptive control Formation control Multi-agent systems Noises Persistent excitation

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distributed adaptive Formation control of Heterogeneous Multi-agent Systems with Unknown System Parameters

Distributed Adaptive Formation Control of Heterogeneous Mult...

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第43届中国控制会议

作者： Xingjian Long Kunrui Ze Wei Wang Jiang Long School of Automation Science and Electrical Engineering Beihang University School of Computer Science Northwestern Polytechnical University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In this paper, we consider the leaderless formation control problem for heterogeneous multi-agent systems(MASs)consisting of unmanned aerial vehicles(UAVs) and unmanned ground vehicles(UGVs) with unknown system parameters. In order to solve the problem caused by nonidentical subsystem orders, a new distributed reference system is introduced in each agent, in which only the relative positions of the agents are involved. Then, a backstepping-based distributed adaptive control is proposed under directed graph condition. With the proposed control scheme, the boundedness of all the signals in the closedloop system can be ensured and the positions of heterogeneous MASs can converge to a desired formation. Finally, experimental results are provided to demonstrate the effectiveness of the proposed control scheme.

关键词： distributed adaptive control multiple unmanned aerial vehicles(UAVs) unmanned ground vehicles(UGVs) formation control

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distributed adaptive Fuzzy control for Multi-Agent Systems with Heterogeneous Nonlinear Dynamics and Additive Measurement Noises under Directed Communication Topology

Distributed Adaptive Fuzzy Control for Multi-Agent Systems w...

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2017中国智能物联系统会议

作者： ZHOU Rui LI Junmin Depart.of Operation Research and Cybernetics School of Mathematics and StatisticsXidian UniversityXi'an 710126P.R.China

This paper investigates a distributed adaptive fuzzy tracking control problem for multi-agent systems with heterogeneous nonlinear dynamics and additive measurement noises under directed communication *** logic systems(FLS)are introduced to approximate the unknown nonlinear *** the meanwhile,some stochastic tools are used to deal with additive stochastic *** the premise of having a directed spanning tree with the leader as the root node,the distributed adaptive fuzzy control law with time-varying and different for each agent control gains and the adaptive update laws of parameters in FLS are *** leader-following consensus in the sense of mean square is ***,the effectiveness of the proposed method has been shown in the illustrative examples.

关键词： distributed adaptive control heterogeneous nonlinear dynamics Fuzzy Logic Systems (FLS) multi-agent systems

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distributed adaptive asymptotically consensus tracking control of uncertain Euler-Lagrange systems under directed graph condition

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ISA TRANSACTIONS 2017年第Part1期71卷 121-129页

作者： Wang, Wei Wen, Changyun Huang, Jiangshuai Fan, Huijin Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China Nanyang Technol Univ Sch Elect & Elect Engn Nanyang Ave Singapore 639798 Singapore Minist Educ Key Lab Dependable Serv Comp Cyber Phys Soc Beijing Peoples R China Chongqing Univ Sch Automat Chongqing 400044 Peoples R China Huazhong Univ Sci & Technol Sch Automat Wuhan 430074 Hubei Peoples R China

In this paper, a backstepping based distributed adaptive control scheme is proposed for multiple uncertain Euler-Lagrange systems under directed graph condition. The common desired trajectory is allowed totally unknown by part of the subsystems and the linearly parameterized trajectory model assumed in currently available results is no longer needed. To compensate the effects due to unknown trajectory information, a smooth function of consensus errors and certain positive integrable functions are introduced in designing virtual control inputs. Besides, to overcome the difficulty of completely counteracting the coupling terms of distributed consensus errors and parameter estimation errors in the presence of asymmetric Laplacian matrix, extra information transmission of local parameter estimates are introduced among linked subsystem and adaptive gain technique is adopted to generate distributed torque inputs. It is shown that with the proposed distributed adaptive control scheme, global uniform boundedness of all the closed-loop signals and asymptotically output consensus tracking can be achieved. (C) 2017 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： distributed adaptive control Multiple Euler-Lagrange systems Parametric uncertainties Directed graph Asymptotically consensus tracking

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distributed adaptive Attitude Takeover control of Failed Spacecraft With Parameters Identification

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IEEE TRANSACTIONS ON control SYSTEMS TECHNOLOGY 2023年第2期31卷 897-904页

作者： Wang, Menglei Geng, Yunhai Wu, Baolin Wang, Danwei Harbin Inst Technol Res Ctr Satellite Technol Harbin 150001 Peoples R China Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore

The attitude takeover control and parameter identification for reclaiming a spacecraft with a failed attitude control system (ACS) by multiple small satellites are investigated in this brief. A distributed adaptive control law based on the concurrent learning method is proposed, which can generate the attitude control command and identify the inertia matrix of the combined spacecraft in a distributed way. In this method, each small satellite calculates its own command torque and estimates the total torque applied to the combined spacecraft to identify the inertia matrix. To reduce consensus errors of inertia matrix identifications and the torque estimation errors, a compensation term based on parameter interaction is introduced in the adaptive law. Finally, numerical simulations are carried out to illustrate the effectiveness of the distributed adaptive control law.

关键词： Space vehicles Small satellites Attitude control Torque Angular velocity adaptive control Quaternions Attitude takeover control distributed adaptive control parameter identification small satellite

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Neuro-adaptive distributed control With Prescribed Performance for the Synchronization of Unknown Nonlinear Networked Systems

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2018年第12期48卷 2135-2144页

作者： El-Ferik, Sami Hashim, Hashim A. Lewis, Frank L. King Fahd Univ Petr & Minerals Dept Syst Engn Dhahran 31261 Saudi Arabia Univ Western Ontario Dept Elect & Comp Engn London ON N6A 5B9 Canada Univ Texas Arlington Res Inst Ft Worth TX 76118 USA

This paper proposes a neuro-adaptive distributive cooperative tracking control with prescribed performance function (PPF) for highly nonlinear multiagent systems. PPF allows error tracking from a predefined large set to be trapped into a predefined small set. The key idea is to transform the constrained system into unconstrained one through transformation of the output error. Agents' dynamics are assumed to be completely unknown, and the controller is developed for strongly connected structured network. The proposed controller allows all agents to follow the trajectory of the leader node, while satisfying necessary dynamic requirements. The proposed approach guarantees uniform ultimate boundedness of the transformed error and the adaptive neural network weights. Simulations include two examples to validate the robustness and smoothness of the proposed controller against highly nonlinear heterogeneous networked system with time varying uncertain parameters and external disturbances.

关键词： Consensus distributed adaptive control multiagents neuro-adaptive prescribed performance steady-state error transformed error transient

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distributed adaptive consensus tracking control of higher-order nonlinear strict-feedback multi-agent systems using neural networks

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NEUROCOMPUTING 2016年 214卷 269-279页

作者： Wang, Gang Wang, Chaoli Li, Lin Du, Qinghui Univ Shanghai Sci & Technol Shanghai 200093 Peoples R China Luoyang Normal Univ Dept Math Luoyang 471022 Peoples R China

This paper considers the output consensus problem of tracking a desired trajectory for a group of higher order nonlinear strict-feedback multi-agent systems over directed communication topologies. Only a subset of the agents is given direct access to the desired trajectory information. A distributed adaptive consensus protocol driving all agents to track the trajectory is presented using the backstepping technique and neural networks. The Lyapunov theory is applied to guarantee that all signals in the closed loop system are uniformly ultimately bounded and that all agents' outputs synchronize to the desired trajectory with bounded residual errors. Compared with prior work, the dynamics of each agent discussed here is more general and does not require the assumption "linearity in the unknown parameters" or the matching condition. Moreover, the bounded residual errors can be reduced as small as desired by appropriately choosing design parameters. Simulation results are included to demonstrate the effectiveness of the proposed methods. (C) 2016 Elsevier B.V. All rights reserved.

关键词： Output consensus distributed adaptive control Backstepping control Neural networks Nonlinear systems

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distributed adaptive Dynamic Surface control for Synchronization of Uncertain Nonlinear Multi-agent Systems

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INTERNATIONAL JOURNAL OF control AUTOMATION AND SYSTEMS 2018年第6期16卷 2733-2742页

作者： Tousi, Javad Kamali, Marzieh Izadi, Iman Sheikholeslam, Farid Isfahan Univ Technol Dept Elect & Comp Engn Esfahan *** Iran

In this paper a distributed adaptive dynamic surface controller is proposed for multi-agent systems under fixed directed graph topologies. The agents have uncertain nonlinear dynamics and are influenced by bounded unknown disturbances. The controller should synchronize the states of all agents with the corresponding states of the nonautonomous leader. It is proved that, with the proposed controller, the synchronization error remains bounded;and the bounds can be arbitrarily decreased by increasing the controller gains. The control rules are designed such that each agent only requires the state information of its neighbors, rendering a distributed control. The effectiveness of the proposed method is demonstrated through two simulation examples.

关键词： distributed adaptive control dynamic surface control multi-agent systems synchronization

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Fully distributed adaptive asymptotical consensus tracking control of uncertain high-order nonlinear multi-agent systems with event-triggered communication

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2024年第8期34卷 4978-4998页

作者： Wu, Xiangkai Liu, Yuxiao Long, Jiang Wang, Wei Beihang Univ Sch Automat Sci & Elect Engn Beijing Peoples R China Northwestern Polytech Univ Sch Comp Sci Xian 710072 Shaanxi Peoples R China Zhongguancun Lab Beijing Peoples R China

In this article, the distributed adaptive asymptotical consensus tracking control is considered for a class of high-order nonlinear multi-agent systems with matched unknown parameters under the event-triggered communication mechanism. The controllers, adaptive laws and triggering conditions are presented under directed topology with a spanning tree, relieving communication burden among the connected agents since continuous monitoring of in-neighbors is no longer needed. To handle the cross-coupling term associated with asymmetric Laplacian matrix and unknown parameters of all agents when the candidate Lyapunov function is defined in terms of local consensus errors, adaptive immersion and invariance control technique is adopted. adaptive estimators are also designed to estimate the constants related to global information, with which the proposed control scheme is fully distributed. It is shown that all closed-loop system signals are globally uniformly bounded and all agents can track the reference signal asymptotically while ruling out Zeno behavior though a subset of the agents cannot have direct access to the reference signal information. A numerical example is illustrated to show the effectiveness of the proposed control protocol.

关键词： consensus tracking distributed adaptive control event-triggered communication multi-agent systems

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