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1st IFAC Workshop on Control of Complex Systems (COSY)

作者： Dadi, Leila Thach Ngoc Dinh Raissi, Tarek Ethabet, Haifa Aoun, Mohamed Univ Gabes Natl Engn Sch Gabes Res Lab Modeling Anal & Control Syst MACS LR16ES2 Gabes 6029 Tunisia Cedr Lab Conservatoire Natl Arts & Metiers CNAM 292 Rue St Martin F-75141 Paris 03 France

In this work, we consider a discrete-time switched linear system. A novel approach is introduced to estimate its state in a finite fixed time which can be arbitrarily chosen and is independent of the initial state. For cases where the additive disturbance and measurement noise are known, we provide an exact estimation. Otherwise, a finite-time interval observer is designed. The crucial idea is based on using past values of the input and output of the studied system and a minimal dwell time condition. Simulation results are provided to illustrate the effectiveness of the proposed techniques in different scenarios of finite time choices. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： Exact estimation approximate estimation finite-time observers discrete-time switched linear systems

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finite- and fixed-time observers for uncertain multiple-outputs linear systems with unknown inputs

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2023年第15期33卷 8818-8843页

作者： Rios, Hector Davila, Jorge Fridman, Leonid Tecnol Nacl Mexico IT La Laguna Torreon Mexico CONACYT Mexico City DF Mexico Inst Politecn Nacl Sect Grad Studies & Res ESIME UPT Mexico City DF Mexico Univ Nacl Autonoma Mexico Fac Ingn Mexico City 04510 DF Mexico

In this paper a family of homogeneity-based observers is proposed to estimate the state of a class of multiple-outputs linear systems with some parametric uncertainties and unknown inputs. Such a family of observers possesses robustness, finite- and fixed-time convergence properties depending on the considered parametric uncertainties and unknown inputs. The structure of these observers is simple since requires neither additional observers, for an a priori stabilization, nor complex transformations, and allows us to straightforwardly apply the observers for the case of multiple-outputs. The proposed structure is based on relative degree sufficient conditions that imply the strong observability of the system. Some simulation results illustrate the performance of the proposed homogeneous observers.

关键词： finite-time observers fixed-time observers linear systems

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New finite-time observers design for a Discrete-time Switched Linear System

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IFAC-PapersOnLine 2022年第40期55卷 73-78页

作者： Leila Dadi Thach Ngoc Dinh Tarek Raïssi Haifa Ethabet Mohamed Aoun Research Laboratory Modeling Analysis and Control of Systems (MACS) LR16ES22 National Engineering School of Gabes University of Gabes 6029 Gabes Tunisia Conservatoire National des Arts et Metiers (CNAM) Cedric-Lab 292 rue St-Martin 75141 Paris Cedex 03 France

关键词： Exact estimation approximate estimation finite-time observers discrete-time switched linear systems

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A Note on Distributed finite-time observers

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2019年第2期64卷 759-766页

作者： Silm, Haik Ushirobira, Rosane Efimov, Denis Richard, Jean-Pierre Michiels, Wim Univ Lille CNRS Cent Lille CRIStALUMR 9189 F-59000 Lille France Katholieke Univ Leuven Dept Comp Sci B-3001 Heverlee Belgium Univ Lille INRIA CNRS Cent LilleCRIStALUMR 9189 F-59000 Lille France

The robust distributed estimation for a class of time-invariant plants is achieved via a finite-time observer, its error reaching zero after a finite time in the absence of perturbation. Two types of robustness are also shown. First, input-to-state stability with respect to measurement noises and additive perturbations is proven. Second, we demonstrate that the estimation error stays bounded in the presence of known transmission delays.

关键词： Distributed estimation problem finite-time observers time-delay weighted homogeneity

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finite-time observers for multi-agent systems without velocity measurements and with input saturations

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SYSTEMS & CONTROL LETTERS 2014年第1期68卷 86-94页

作者： Zhang, Bin Jia, Yingmin Matsuno, Fumitoshi Beihang Univ BUAA Res Div 7 Beijing 100191 Peoples R China Beihang Univ BUAA Dept Syst & Control Beijing 100191 Peoples R China Kyoto Univ Dept Mech Engn & Sci Kyoto 6068501 Japan

This paper is devoted to the distributed finite-time observers for multi-agent systems, where the control inputs are required to be bounded and the velocities are assumed to be not available for feedback. An effective framework through defining a class of coordinated saturation functions is introduced, under which both a first-order finite-time observer and a high-order finite-time observer are constructed. By applying the homogeneous theory for stability analysis, it is proven that all the states of the followers can converge to that of the leader in finite time under our proposed observers. With mild modifications of our control strategies, the foregoing results are then extended to the distributed finite-time containment control problem, where the states of the followers converge to the convex hull spanned by the multiple dynamic leaders. Numerical simulations are presented to demonstrate the efficiency of our methods. (C) 2014 Elsevier B.V. All rights reserved.

关键词： finite-time observers Multi-agent systems Distributed protocols Input saturations

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finite-time observers for Tracking Control of Multi-Agent Systems

Finite-Time Observers for Tracking Control of Multi-Agent Sy...

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52nd IEEE Annual Conference on Decision and Control (CDC)

ISBN: (纸本)9781467357173

This paper is devoted to the finite-time tracking problem for multi-agent systems, where the control inputs are required to be bounded and the velocities are not available for feedback. An effective framework through defining a class of coordinated saturation functions is introduced, under which both a one-order finite-time observer and a high-order finitetime observer are constructed. By applying the homogeneous theory for stability analysis, it is proven that all the states of the followers can converge to that of the leader in finite time. Numerical simulations are presented to demonstrate the effectiveness of our control protocols.

关键词： finite-time observers multi-agent systems distributed protocols input saturations

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finite-time State Observer for a Class of Linear time-Varying Systems With Unknown Inputs

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2022年第6期67卷 3149-3156页

作者： Davila, Jorge Tranninger, Markus Fridman, Leonid Inst Politecn Nacl Sect Grad Studies & Res ESIME UPT Mexico City 07340 DF Mexico Graz Univ Technol Inst Automat & Control A-8010 Graz Austria Univ Nacl Autonoma Mexico Fac Ingn Mexico City 04510 DF Mexico

A finite-time observer for a class of linear time-varying systems with bounded unknown inputs is presented in this note. The design of the observer exploits structural properties of the system and, through a linear operator, allows applying the robust exact differentiator in a block form without requiring additional stabilizing terms. The proposed observer provides an exact estimate of the states after a finite transient time despite the possible instability of the system and the effects of bounded unknown inputs.

关键词： observers Observability Convergence Complexity theory Urban areas Switches Linear systems Robust observers finite-time observers time-varying systems unknown inputs high-order sliding modes

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Quad-Rotor robust time-varying formation control: a Continuous Sliding-Mode Control approach

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INTERNATIONAL JOURNAL OF CONTROL 2020年第7期93卷 1659-1676页

作者： Gonzalez-Sierra, Jaime Rios, Hector Dzul, Alejandro Tecnol Nacl Mexico CONACYT IT Laguna Div Estudios Posgrad Blvd Revoluc & Cuauhtemoc S-N Torreon 27000 Coahuila Mexico Tecnol Nacl Mexico Div Estudios Posgrad & Invest IT Laguna Torreon Coahuila Mexico

This paper deals with the robust tracking problem for a group of Quad-Rotors forming a time-varying geometric pattern, i.e. formation control, in the presence of external disturbances. Such a robust control strategy is able to deal with any formation scheme such that there exists a directed spanning tree from the leader agent to all other agents. The proposed output-control strategy is based on a Continuous Sliding-Mode Control (Continuous-SMC) approach which is composed of a finite-time Sliding-Mode Observer (FT-SMO) and hierarchical cascade Continuous-SMCs. It is assumed that only the positions and angles of each Quad-Rotor are available to measure. Despite the disturbances acting on all the Quad-Rotor dynamics, this control strategy provides uniform finite-time stability for the altitude and yaw angle tracking and formation errors, and uniform exponential stability for the forward and lateral tracking and formation errors. Moreover, four different types of Continuous-SMCs can be used in the proposed strategy. Numerical simulations illustrate the performance of the proposed strategy.

关键词： Sliding-Mode Control finite-time observers Quad-Rotor systems Formation control

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Distributed adaptive formation control for non-identical non-linear multi-agents systems based on sliding mode

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IET CONTROL THEORY AND APPLICATIONS 2019年第2期13卷 222-229页

作者： Wang, Jinhuan Zhang, Xiang Xu, Yong Yang, Dedong Hebei Univ Technol Hebei Prov Key Lab Big Data Calculat Sch Sci Tianjin 300401 Peoples R China Hebei Univ Technol Sch Control Sci & Engn Tianjin 300401 Peoples R China

This study investigates the distributed control strategy for handling the time-invariant and time-varying formation tracking problem of a class of non-linear nonidentical leader-follower multi-agent systems with uncertainties and unknown external disturbances. Firstly, the neighbour-based distributed finite-time observers are proposed for the followers to estimate the position and velocity of the leader. Then, two novel distributed adaptive formation control algorithms based on the approximation capability of neural networks and sliding mode are developed. One can prove that, with the proposed observer and the control laws, all the followers will reach the desired time-invariant or time-varying formation tracking, and achieve the consistent velocity with the leader in spite of uncertainties and disturbances. Finally, illustrative simulation examples are given to verify the effectiveness of the obtained theoretical results.

关键词： observers control system synthesis distributed control uncertain systems position control multi-robot systems linear systems variable structure systems time-varying systems adaptive control multi-agent systems nonlinear multiagents systems sliding mode distributed control strategy time-varying formation tracking problem nonlinear nonidentical leader-follower multiagent systems unknown external disturbances neighbour-based finite-time observers followers novel distributed adaptive formation control algorithms control laws desired time-invariant

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A simple finite-time distributed observer design for linear time-invariant systems

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SYSTEMS & CONTROL LETTERS 2020年 141卷 104707-104707页

作者： Silm, Haik Efimov, Denis Michiels, Wim Ushirobira, Rosane Richard, Jean-Pierre Univ Lille CNRS INRIA Cent LilleCRIStALUMR 9189 F-59000 Lille France Univ Lille CNRS INRIA CRIStALUMR 9189 F-59000 Lille France Katholieke Univ Leuven Dept Comp Sci B-3001 Heverlee Belgium ITMO Univ St Petersburg 197101 Russia

A design of a distributed observer is proposed for continuous-time systems with nonlinear observer nodes such that the estimation errors converge in a finite time to zero. By taking advantage of individual observability decompositions, the designs for the locally observable and the unobservable substate are made independent from each other. For the observable substate of each node, standard centralized finite-time observer techniques are applied. To estimate distributively the unobservable substate, the observer nodes employ consensus coupling in a linear term and an additional term embedded in a fractional power. The approach is derived using homogeneity arguments and it leads to a simple design with an LMI that is guaranteed to be feasible under general conditions. (C) 2020 Elsevier B.V. All rights reserved.

关键词： Distributed estimation Linear systems finite-time observers Homogeneity

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