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第36届中国控制会议

作者： ZHOU Yuanqiang LI Dewei XI Yugeng CEN Lihui XU Yuli GAN Zhongxue Department of Automation Shanghai Jiao Tong UniversityKey Laboratory of System Control and Information ProcessingMinistry of Education School of Information Science and Engineering Central South University ENN Science & Technology Development Co. Ltd.

ISBN: (纸本)9781538629185

This paper concerns the distributed model predictive control（DMPC） problem for nonlinear multirate networked systems subject to asynchronous *** asynchronization of communication between each subsystem always exists in mechanic engineering and chemical *** motivation of this paper is to use the asynchronous information to improve closed-loop performance for a class of networked systems with coupled nonlinear *** handle the asynchronous communication,a methodology of state trajectory estimation for the coupled neighboring agents over each prediction horizon with guaranteed error bounds is *** make effective use of computational resources,a distributed model predictive control algorithm with the dual-model control strategy is *** conditions for ensuring the subsequent feasibility of the proposed algorithm and the stabilization of the closed-loop networked systems are developed ***,the theoretical results are verified by a simulation example for a set of coupled Van der Pol oscillators.

关键词： Networked systems nonlinear system nonlinear predictive control distributed nonlinear control

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Flocking of Linear Parameter Varying Agents: Source Seeking Application with Underwater Vehicles 21st

Flocking of Linear Parameter Varying Agents: Source Seeking ...

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21st IFAC World Congress on Automatic control - Meeting Societal Challenges

作者： Attallah, Aly Datar, Adwait Werner, Herbert Hamburg Univ Technol Inst Control Syst Eissendorfer Str 40 D-21073 Hamburg Germany

A distributed flocking control scheme is proposed for a network of Autonomous Underwater Vehicles (AUVs) which are modeled as Linear Parameter Varying (LPV) systems. This scheme is applied here to the solution of a source seeking problem, i.e. the vehicles (agents) measure the local values of a scalar field and are required to flock to its maximum (source). It is assumed that agents have the gradient and Hessian information of the scalar field at their current position. The control architecture of each agent is divided into two modules: a flocking filter which receives data from neighbours and generates a reference signal based on a flocking control law, and a feedback loop for tracking this reference. By this approach, a separation in design is achieved by designing a local LPV tracking controller for each agent and a network flocking filter which can be analyzed to guarantee stability in the sense of Lyapunov, i.e. the boundedness of agents' trajectories. Simulation results illustrate the practicality and benefits of the proposed flocking architecture scheme by applying it to a network of realistic autonomous underwater vehicles. Copyright (C) 2020 The Authors.

关键词： Linear parameter-varying systems non-holonomic vehicles distributed nonlinear control tracking

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Bearing Leader-Follower Formation control under Persistence of Excitation 21st

Bearing Leader-Follower Formation Control under Persistence ...

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21st IFAC World Congress on Automatic control - Meeting Societal Challenges

作者： Tang, Zhiqi Cunha, Rita Hamel, Tarek Silvestre, Carlos Univ Lisbon ISR IST Lisbon Portugal Univ Cote dAzur I3S CNRS Nice France Inst Univ France I3S CNRS Nice France Univ Macau Fac Sci & Technol Macau Peoples R China

This paper addresses the problem of formation control with a leader-follower structure in three dimensional space by exploring persistence of excitation (PE) of the desired bearing reference, which is provided by a possibly moving or time-varying desired formation. Using only bearing measurements, control laws are proposed for a group of agents with single-integrator dynamics By defining a desired formation such that the corresponding inter-vehicle bearing measurements are persistently exciting, relaxed conditions on the interaction topology (which do not require bearing rigidity nor constraint consistence) can be used to derive distributed control laws that guarantee exponential stabilization of the desired formation in terms of relative position. A key outcome of this approach is that even if there is only one connection originated from each follower, exponential stability of the formation can be achieved as long as the excitation conditions are met on the desired formation. The approach generalizes stability results provided in prior work for leader-first follower (LFF) structure, based on bearing rigidity and constraint consistence that required at least two connections for each follower except for the first one. Simulations results are provided to illustrate the performance of the proposed control method. Copyright (C) 2020 The Authors.

关键词： Multi-agent systems Decentralized control nonlinear cooperative control distributed nonlinear control Lyapunov methods Stability of nonlinear systems

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Aperiodic Communication for MPC in Autonomous Cooperative Landing ⁎

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IFAC-PapersOnLine 2021年第6期54卷 113-118页

作者： Dženan Lapandić Linnea Persson Dimos V. Dimarogonas Bo Wahlberg Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden

This paper investigates the rendezvous problem for the autonomous cooperative landing of an unmanned aerial vehicle (UAV) on an unmanned surface vehicle (USV). Such heterogeneous agents, with nonlinear dynamics, are dynamically decoupled but share a common cooperative rendezvous task. The underlying control scheme is based on distributed Model Predictive control (MPC). The main contribution is a rendezvous algorithm with an online update rule of the rendezvous location. The algorithm only requires the agents to exchange information when they can not guarantee to rendezvous. Hence, the exchange of information occurs aperiodically, which reduces the necessary communication between the agents. Furthermore, we prove that the algorithm guarantees recursive feasibility. The simulation results illustrate the effectiveness of the proposed algorithm applied to the problem of autonomous cooperative landing.

关键词： Autonomous cooperative landing nonlinear predictive control Model predictive optimization-based control distributed nonlinear control UAVs Tracking

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Flocking of Linear Parameter Varying Agents: Source Seeking Application with Underwater Vehicles

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IFAC-PapersOnLine 2020年第2期53卷 7305-7311页

作者： Aly Attallah Adwait Datar Herbert Werner

A distributed flocking control scheme is proposed for a network of Autonomous Underwater Vehicles (AUVs) which are modeled as Linear Parameter Varying (LPV) systems. This scheme is applied here to the solution of a source seeking problem, i.e. the vehicles (agents) measure the local values of a scalar field and are required to flock to its maximum (source). It is assumed that agents have the gradient and Hessian information of the scalar field at their current position. The control architecture of each agent is divided into two modules: a flocking filter which receives data from neighbours and generates a reference signal based on a flocking control law, and a feedback loop for tracking this reference. By this approach, a separation in design is achieved by designing a local LPV tracking controller for each agent and a network flocking filter which can be analyzed to guarantee stability in the sense of Lyapunov, i.e. the boundedness of agents’ trajectories. Simulation results illustrate the practicality and benefits of the proposed flocking architecture scheme by applying it to a network of realistic autonomous underwater vehicles.

关键词： Linear parameter-varying systems non-holonomic vehicles distributed nonlinear control tracking

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Bearing Leader-Follower Formation control under Persistence of Excitation

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IFAC-PapersOnLine 2020年第2期53卷 5671-5676页

作者： Zhiqi Tang Rita Cunha Tarek Hamel Carlos Silvestre ISR IST Universidade de Lisboa Portugal I3S-CNRS Université Côte d’Azur Nice-Sophia Antipolis France I3S-CNRS Institut Universitaire de France Nice-Sophia Antipolis France Faculty of Science and Technology of the University of Macau Macao China

This paper addresses the problem of formation control with a leader-follower structure in three dimensional space by exploring persistence of excitation (PE) of the desired bearing reference, which is provided by a possibly moving or time-varying desired formation. Using only bearing measurements, control laws are proposed for a group of agents with single-integrator dynamics. By defining a desired formation such that the corresponding inter-vehicle bearing measurements are persistently exciting, relaxed conditions on the interaction topology (which do not require bearing rigidity nor constraint consistence) can be used to derive distributed control laws that guarantee exponential stabilization of the desired formation in terms of relative position. A key outcome of this approach is that even if there is only one connection originated from each follower, exponential stability of the formation can be achieved as long as the excitation conditions are met on the desired formation. The approach generalizes stability results provided in prior work for leader-first follower (LFF) structure, based on bearing rigidity and constraint consistence that required at least two connections for each follower except for the first one. Simulations results are provided to illustrate the performance of the proposed control method.

关键词： Multi-agent systems Decentralized control nonlinear cooperative control distributed nonlinear control Lyapunov methods Stability of nonlinear systems

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Cooperative global robust group output regulation for multi-agent systems with heterogeneous uncertain second-order nonlinear dynamics

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nonlinear DYNAMICS 2018年第4期92卷 1733-1744页

作者： Zhang, Wenle Liu, Jianchang East China Univ Sci & Technol Key Lab Adv Control & Optimizat Chem Proc Minist Educ Shanghai 200237 Peoples R China Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110819 Liaoning Peoples R China

In this paper, we study the global robust group output regulation problem for multi-agent systems with heterogeneous uncertain second-order nonlinear dynamics. The intelligence factor is introduced to construct a designed graph matrix which overcomes the communication influence between multiple coupled subnetworks with different exosystems. In terms of internal model principle, the global robust group output regulation problem is converted into the global robust dynamic stability problem of the so-called augmented multi-agent system. Further, the augmented multi-agent system is globally stabilized via a distributed state feedback control law. A special case of the main result of this paper leads to the solution of the global robust multi-tracking control problem for nonlinear multi-agent networks. A simulation is performed to illustrate the effectiveness of the theoretical results.

关键词： Multi-agent systems nonlinear dynamics Robust group output regulation Local and global methods distributed nonlinear control

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Robust Distance-Based Formation control of Multiple Rigid Bodies with Orientation Alignment

Robust Distance-Based Formation Control of Multiple Rigid Bo...

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20th World Congress of the International-Federation-of-Automatic-control (IFAC)

作者： Nikou, Alexandros Verginis, Christos K. Dimarogonas, Dimos V. KTH Royal Inst Technol Sch Elect Engn ACCESS Linnaeus Ctr SE-10044 Stockholm Sweden KTH Royal Inst Technol KTH Ctr Autonomous Syst SE-10044 Stockholm Sweden

This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a decentralized model-free control protocol in the sense that each agent uses only local information from its neighbors to calculate its own control signal, without incorporating any knowledge of the model nonlinearities and exogenous disturbances. Moreover, the transient and steady state response is solely determined by certain designer-specified performance functions and is fully decoupled by the agents' dynamic model, the control gain selection, the underlying graph topology as well as the initial conditions. Additionally, by introducing certain inter-agent distance constraints, we guarantee collision avoidance and connectivity maintenance between neighboring agents. Finally, simulation results verify the performance of the proposed controllers. (C) 2017, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Multi-agent systems Cooperative systems distributed nonlinear control nonlinear cooperative control Robust control

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distributed nonlinear MPC of Multi-Agent Systems With Data Compression and Random Delays

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IEEE TRANSACTIONS ON AUTOMATIC control 2016年第3期61卷 817-822页

作者： El-Ferik, Sami Siddiqui, Bilal A. Lewis, Frank L. King Fahd Univ Petr & Minerals Dept Syst Engn Dhahran Saudi Arabia DHA Suffa Univ Dept Mech Engn Karachi Pakistan Univ Texas Arlington Res Inst Arlington TX 76019 USA

This note proposes an Input to State practically Stable (ISpS) formulation of distributed nonlinear model predictive controller (NMPC) for formation control of constrained autonomous vehicles in presence of communication bandwidth limitation and transmission delays. Planned trajectories are compressed using neural networks resulting in considerable reduction of data packet size, while being robust to propagation delays and uncertainty in neighbors' trajectories. Collision avoidance is achieved by means of spatially filtered potential field. Analytical results proving ISpS and generalized small gain conditions are presented for both strongly-and weakly-connected networks, and illustrated by simulations.

关键词： Collision avoidance distributed nonlinear control formation control multi-agent systems neural network non-linear model predictive control

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distributed formation control of nonholonomic mobile robots without global position measurements

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AUTOMATICA 2013年第2期49卷 592-600页

作者： Liu, Tengfei Jiang, Zhong-Ping NYU Polytech Inst Dept Elect & Comp Engn MetroTech Ctr 6 Brooklyn NY 11201 USA

This paper proposes a new class of distributed nonlinear controllers for leader-following formation control of unicycle robots without global position measurements. nonlinear small-gain design methods are used to deal with the problem caused by the nonholonomic constraint of the unicycle robot and yield simple conditions for practical implementation. With the proposed distributed controllers, the formation control objective can be achieved without assuming any tree sensing structures. More interestingly, the distributed controller is robust to position measurement errors and the linear velocities of the robots can be restricted to specific bounded ranges. (C) 2012 Elsevier Ltd. All rights reserved.

关键词： distributed nonlinear control Formation control Mobile robots Input-to-output stability (IDS) Small-gain

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