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Distributed consensus for multiple Euler-Lagrange systems: An event-triggered approach

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Science China(Technological Sciences) 2016年第1期59卷 33-44页

作者： HUANG Na duan zhisheng ZHAO Yu State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of EngineeringPeking University

Distributed consensus problems for multiple Euler-Lagrange systems are addressed on the basis of event-triggered information in this study. Distributed consensus protocols are first designed in terms of two event-triggered scenarios: a decentralized strategy and a distributed strategy. Sufficient conditions that guarantee the event-triggered consensus for multiple Euler-Lagrange systems are then presented, with the associated advantages of reducing controller update times. It is shown that the Zeno behavior of triggering time sequences is excluded for both strategies. Finally, multiple Euler-Lagrange systems that consist of six two-link manipulators are considered to illustrate the effectiveness of the proposed theoretical algorithms.

关键词： consensus event-triggered strategy Euler-Lagrange system distributed control

H_∞ CONTROL OF NETWORKED MULTI-AGENT SYSTEMS

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Journal of Systems Science & Complexity 2009年第1期22卷 35-48页

作者： Zhongkui LI zhisheng duan Lin HUANG State Key Lab for Turbulence and Complex Systems and Department of Mechanics and Aerospace Engineering College of Engineering Peking University Beijing 100871 China.

This paper concerns the disturbance rejection problem arising in the coordination control of a group of autonomous agents subject to external disturbances. The agent network is said to possess a desired level of disturbance rejection, if the H∞ norm of its transfer function matrix from the disturbance to the controlled output is satisfactorily small. Undirected graph is used to represent the information flow topology among agents. It is shown that the disturbance rejection problem of an agent network can be solved by analyzing the H∞ control problem of a set of independent systems whose dimensions are equal to that of a single node. An interesting result is that the disturbance rejection ability of the whole agent network coupled via feedback of merely relative measurements between agents will never be better than that of an isolated agent. To improve this, local feedback injections are applied to a small fraction of tile agents in the network. Some criteria for possible performance improvement are derived in terms of linear matrix inequalities. Finally, extensions to the case when communication time delays exist are also discussed.

关键词： Coordination control graph theory H∞ control linear matrix inequality (LMI) pinning control.

Robust control of uncertain robotic systems:An adaptive friction compensation approach

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Science China(Technological Sciences) 2021年第6期64卷 1228-1237页

作者： WANG QiShao ZHUANG Han duan zhisheng WANG QingYun Department of Dynamics and Control Beihang UniversityBeijing 100191China College of Engineering Peking UniversityBeijing 100871China

This paper solves the robust control problem of robotic manipulator systems with uncertain dynamics by friction compensation approach. A weighting factor is introduced to distinguish the role of friction in control process by comparing the directions of sliding vector and friction. Utilizing the weighting factor, model-based and model-free adaptive friction compensation controllers are designed to achieve asymptotical tracking of the desired joint-space trajectory according to the knowledge of friction. The damping property of friction is fully used to improve the control performance by compensating the friction harmful for the stability, and on the other hand, utilizing the beneficial friction. Numerical simulations are given to demonstrate the control performance of the proposed approach.

关键词： robotic control friction compensation adaptive control robust control

On decoupled or coupled control of bank-to-turn missiles

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Science China(Information Sciences) 2015年第5期58卷 195-207页

作者： duan zhisheng HUANG Lin YANG JianYing QIN GuoZheng State Key Lab for Turbulence and Complex Systems and Department of Mechanics and Engineering Science College of Engineering Peking University

In this paper, the differences between decoupled and coupled control of bank-to-turn(BTT) missiles have been studied in detail from three aspects: stabilizability, linear quadratic regulator(LQR) control and tracking control. It is found that for some parameters the BTT missile can be controlled by a decoupled way,especially for stabilizability and LQR control. However, for some others, the BTT missile cannot be decoupled and a coupled control method is needed. Therefore, for a practical flight control system, the decouplability should be studied before giving a decoupled control method. In addition, in order to avoid the disadvantages of LQR control method, an improved H∞controller design method is given. Combined with tracking control problem, a new H∞control method is established for trajectory tracking.

关键词： BTT missile decoupled control coupled control tracking control

Task-space Cooperative Tracking Control of Networked Manipulators With Uncertain Kinematics and Dynamics 36

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Task-space Cooperative Tracking Control of Networked Manipul...

第36届中国控制会议

作者： Peihu duan zhisheng duan State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Aerospace EngineeringCollege of EngineeringPeking University

ISBN: (纸本)9781538629185

In this paper, we investigate a distributed control approach to addressing the task-space synchronized tracking problem of networked manipulators with uncertain kinematics and dynamics, where the dynamic leader is available to only a subset of followers and followers have only local interaction. Specifically, without task-space velocity measurements, a disturbance observer is introduced to identify and compensate for uncertain dynamics while an adaptive law is designed to estimate the uncertain kinematics. Besides, it is strictly proved that the proposed control scheme ensures that tracking errors converge to zero as time tends to infinity. In the end, simulation results are provided to demonstrate the effectiveness of the proposed controller.

关键词： Networked Manipulators Uncertainties Observer Adaptive control

Consensus of Multi-agent Systems under a Class of Randomly Time-Varying Networks 36

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Consensus of Multi-agent Systems under a Class of Randomly T...

第36届中国控制会议

作者： Kexin Liu zhisheng duan State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Aerospace EngineeringCollege of EngineeringPeking University

ISBN: (纸本)9781538629185

Consensus of multi-agent systems under random networks has attracted considerable *** previous literatures,it is often assumed that the agents communicate through Markov switching ***,in some engineering applications,the available network information is the expectation of the Laplacian matrix and the time-varying networks are not proper to be regarded as Markov *** solve this problem,we develop a method to cope with the mean square consensus of multi-agent *** on the properties of expectation of Laplacian matrix,we present the design of relevant parameters and establish some conditions to guarantee the mean square *** simulations are also given to validate our approach.

关键词： multi-agent systems randomly time-varying networks consensus

Distributed Finite-Time Containment Control for Multi-Agent Systems with Multiple Dynamic Leaders

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Distributed Finite-Time Containment Control for Multi-Agent ...

第25届中国控制与决策会议

作者： Yu Zhao zhisheng duan State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Aerospace Engineering College of Engineering Peking University

ISBN: (纸本)9781467355339

This paper studies the distributed finite-time containment control for a group of mobile agents modeled by double-integrator dynamics under multiple dynamic leaders with bounded unknown acceleration inputs. First, a distributed finite-time containment protocol is proposed on both the relative position and the relative velocity measurements. This protocol can drive the states of the followers to track the convex hull spanned by those of the leaders in finite time under the constraint that the leaders’ acceleration inputs are unknown but bounded for all the followers. Then, a novel position-based containment protocol is designed and analyzed for solving the distributed finite-time tracking problem when both the velocity and acceleration measurements are not available for the followers. Finally, the effectiveness of the results is illustrated by numerical simulation.

关键词： Distributed control Containment control Finite-time tracking Multi-agent system Dynamic leader

The effects of redundant control inputs in optimal control

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Science in China(Series F) 2009年第11期52卷 1973-1981页

作者： duan zhisheng HUANG Lin YANG Ying State Key Lab for Turbulence and Complex Systems and Department of Mechanics and Aerospace Engineering College of Engineering Peking University Beijing 100871 China

For a stabilizable system, the extension of the control inputs has no use for stabilizability, but it is important for optimal control. In this paper, a necessary and sufficient condition is presented to strictly decrease the quadratic optimal performance index after control input extensions. A similar result is also provided for H2 optimal control problem. These results show an essential difference between single-input and multi-input control systems. Several examples are taken to illustrate related problems.

关键词： redundant control optimal control Riccati equation Hamilton matrix

Distributed Attitude Synchronization Control for Multiple Flexible Spacecraft Using Adaptive Sliding Mode 36

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Distributed Attitude Synchronization Control for Multiple Fl...

第36届中国控制会议

作者： Qishao Wang Yu Chen zhisheng duan State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceCollege of EngineeringPeking University Beijing Institute of Astronautical Systems Engineering

ISBN: (纸本)9781538629185

This paper investigates the distributed attitude synchronization and tracking problem for a group of flexible spacecraft in the presence of external *** spacecraft formation is studied in an undirected leader-following architecture and the time-varying reference attitude is represented by a dynamic virtual *** the adaptive sliding mode mechanism,a distributed modified Rodriguez parameters-based synchronization control law is proposed for flexible spacecraft without using the elastic vibration *** is proved that the attitude synchronization can be achieved asymptotically under the control algorithm through the Lyapunov’s stability analysis.A numerical simulation example of multiple flexible spacecraft formation is given to demonstrate the effectiveness of the proposed method.

关键词： Attitude Synchronization Flexible Spacecraft Sliding Mode Adaptive Control