In this paper the flying convex-path-following formations problem (FCxPFF) is solved for two cases of underactuated rigid bodies. In the first case the the rigid bodies have a single degree of underactuation with two ...
详细信息
In this paper the flying convex-path-following formations problem (FCxPFF) is solved for two cases of underactuated rigid bodies. In the first case the the rigid bodies have a single degree of underactuation with two thrusts and three torques. In the second, they have two degrees of underactuation with a single thrust. The solution builds on the one developed for fully-actuated agents in Part I of the paper. In addition, the way the solution is tailored for underactuation relies on further utilization of hierarchic set stabilization, and reduction. Additional remarks on the benefits of the approach, and simulation results of the proposed solutions are presented. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.
In this paper, the swarming behavior of multiple Euler-Lagrange systems with cooperation-competition interactions is investigated, where the agents can cooperate or compete with each other and the parameters of the sy...
详细信息
In this paper, the swarming behavior of multiple Euler-Lagrange systems with cooperation-competition interactions is investigated, where the agents can cooperate or compete with each other and the parameters of the systems are uncertain. The distributed stabilization problem is first studied, by introducing an auxiliary system to each agent, where the common assumption that the cooperation-competition network satisfies the digon sign-symmetry condition is removed. Based on the input-output property of the auxiliary system, it is found that distributed stabilization can be achieved provided that the cooperation subnetwork is strongly connected and the parameters of the auxiliary system are chosen appropriately. Furthermore, as an extension, a distributed consensus tracking problem of the considered multiagent systems is discussed, where the concept of equi-competition is introduced and a new pinning control strategy is proposed based on the designed auxiliary system. Finally, illustrative examples are provided to show the effectiveness of the theoretical analysis.
作者：
Mohamed I. El-HawwaryDepartment of Electrical Power Engineering
Faculty of Engineering Cairo University Giza 12613 Egypt Division of Decision and Control Systems School of Electrical Engineering & Computer Science KTH Royal Institute of Technology SE-100 44 Stockholm Sweden
In this paper the flying convex-path-following formations problem (FCxPFF) is solved for two cases of underactuated rigid bodies. In the first case the the rigid bodies have a single degree of underactuation with two ...
详细信息
In this paper the flying convex-path-following formations problem (FCxPFF) is solved for two cases of underactuated rigid bodies. In the first case the the rigid bodies have a single degree of underactuation with two thrusts and three torques. In the second, they have two degrees of underactuation with a single thrust. The solution builds on the one developed for fully-actuated agents in Part I of the paper. In addition, the way the solution is tailored for underactuation relies on further utilization of hierarchic set stabilization, and reduction. Additional remarks on the benefits of the approach, and simulation results of the proposed solutions are presented.
This paper studies the problem of global robust distributed output consensus of heterogeneous leader-follower multi-agent nonlinear systems by general directed output interactions. For a class of minimum-phase single-...
详细信息
This paper studies the problem of global robust distributed output consensus of heterogeneous leader-follower multi-agent nonlinear systems by general directed output interactions. For a class of minimum-phase single-input single-output nonlinear agents having unity relative degree, it is shown that the problem is solvable by an internal model approach under certain mild conditions. A Lyapunov function based output-feedback control law is developed by converting the global output consensus into a global distributed stabilization problem for an augmented network. (C) 2015 Elsevier B.V. All rights reserved.
This paper considers a global robust output consensus(GROC) problem for heterogeneous multi-agent nonlinear systems with unknown *** a class of normal-form nonlinear agents under general directed communication topolog...
详细信息
ISBN:
(纸本)9781509009107
This paper considers a global robust output consensus(GROC) problem for heterogeneous multi-agent nonlinear systems with unknown *** a class of normal-form nonlinear agents under general directed communication topologies,we develop a new nonlinear internal model approach for the ***,by means of an effective problem conversion,we can establish an augmented dynamic network with integral input-to-state stable(iISS) inverse ***,we are capable of constructing an output feedback consensus protocol through a direct auxiliary distributed stabilization design.
We study distributed output feedback control of a heterogeneous multi-agent system (MAS), consisting of N different continuous-time linear dynamical systems. For achieving output consensus, a virtual reference model i...
详细信息
We study distributed output feedback control of a heterogeneous multi-agent system (MAS), consisting of N different continuous-time linear dynamical systems. For achieving output consensus, a virtual reference model is assumed to generate the desired trajectory for which the MAS is required to track and synchronize. A full information (FI) protocol is assumed for consensus control. This protocol includes information exchange with the feed-forward signals. In this dissertation we study two different kinds of consensus problems. First, we study the consensus control over the topology involving time delays and prove that consensus is independent of delay lengths. Second, we study the consensus under communication constraints. In contrast to the existing work, the reference trajectory is transmitted to only one or a few agents and no local reference models are employed in the feedback controllers thereby eliminating synchronization of the local reference models. Both significantly lower the communication overhead. In addition, our study is focused on the case when the available output measurements contain only relative information from the neighboring agents and reference signal. Conditions are derived for the existence of distributed output feedback control protocols, and solutions are proposed to synthesize the stabilizing and consensus control protocol over a given connected digraph. It is shown that the H-inf loop shaping and LQG/LTR techniques from robust control can be directly applied to design the consensus output feedback control protocol. The results in this dissertation complement the existing ones, and are illustrated by a numerical example. The MAS approach developed in this dissertation is then applied to the development of autonomous aircraft traffic control system. The development of such systems have already started to replace the current clearance-based operations to trajectory based operations. Such systems will help to reduce human errors, increase e
暂无评论