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distributed control of a Class of Second-Order Nonlinear Multi-Agent Systems with Switching Topologies 36

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Distributed Control of a Class of Second-Order Nonlinear Mul...

第36届中国控制会议

作者： Zhengyan Qin Tengfei Liu Zhong-Ping Jiang State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Tandon School of Engineering New York University

ISBN: (纸本)9781538629185

This paper proposes a distributed control result for strong output-agreement of a class of second-order nonlinear multi-agent *** nonlinear dynamics of the agents are handled by a class of nonlinear control *** is first proved that each controlled agent admits a positively invariant set if the outputs of the neighboring agents are ***,by showing the existence of a positively invariant set for the multi-agent system,the state boundedness of the multi-agent system is guaranteed,and strong output-agreement is proved by showing that the size of the positively invariant set is *** example with simulation is employed to show the effectiveness of the main result.

关键词： distributed control Strong Output-Agreement Multi-agent systems Switching Topologies Nonlinear Dynamics

H∞ Robustness for distributed control in Autonomous Microgrids Considering Cyber Disturbances

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CSEE Journal of Power and Energy Systems 2024年第2期10卷 696-706页

作者： Ge Cao Guannan Lou Wei Gu Lina Sheng School of Electrical Engineering Southeast UniversityNanjing 210096China

The physical connections and logical relationships between microgrids and communication networks allow microgrids to develop into typical cyber-physical systems(CPSs).With the extensive use of open communication mechanisms,the impact of cyber disturbances in public communication networks cannot be *** this paper,a parameter optimal method for a distributed secondary controller based on the robust control theory and consensus algorithm is presented to enhance the robustness of a secondary control system under data disturbance,parameter perturbation,and time ***,a distributed secondary control strategy of microgrids is demonstrated that coordinates frequency and voltage restoration and power ***,considering the impact of cyber events on the secondary control,a distributed robust controller gain design method is proposed to satisfy the H∞ performance *** solution of the distributed robust control is transformed into a linear matrix in equation problem and latency margin is simultaneously ***,a test microgrid CPS is simulated with and without time delay to investigate the impact of cyber events on system operational states and the effectiveness and robustness of the proposed method.

关键词： Cyber disturbance cyber-physical lsystem distributed control microgrid robust H∞control

Differential flatness-based distributed control of underactuated robot swarms

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Applied Mathematics and Mechanics(English Edition) 2023年第10期44卷 1777-1790页

作者： Ningbo AN Qishao WANG Xiaochuan ZHAO Qingyun WANG Department of Dynamics and control Beihang UniversityBeijing 100191China Institute of Computer Application Technology China North Industries Group Corporation LimitedBeijing 100095China

This paper proposes a distributed control method based on the differential flatness(DF) property of robot swarms. The swarm DF mapping is established for underactuated differentially flat dynamics, according to the control objective. The DF mapping refers to the fact that the system state and input of each robot can be derived algebraically from the flat outputs of the leaders and the cooperative errors and their finite order derivatives. Based on the proposed swarm DF mapping, a distributed controller is designed. The distributed implementation of swarm DF mapping is achieved through observer design. The effectiveness of the proposed method is validated through a numerical simulation of quadrotor swarm synchronization.

关键词： differential flatness(DF) underactuated robot distributed control synchronization

Robustness analysis and distributed control of a networked system with time-varying delays

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control Theory and Technology 2020年第3期18卷 293-306页

作者： Zhike WANG Tong ZHOU Department of Automation Tsinghua UniversityBeijing W0084China School of Aviation Operations and Services University of Air Force AviationChangchun Jilin 130022China

This paper is concerned with the robustness analysis and distributed output feedback control of a networked system with uncertain time-varying communication *** system consists of a collection of linear time-invariant subsystems that are spatially interconnected via an arbitrary directed *** a dissipation inequality that incorporates dynamic hard lQCs(integral quadratic constraints)for the delay uncertainties,we derive some sufficient robustness conditions in the form of coupled linear matrix inequalities,in which the couplld parts reflect the interconnection structure of the *** then provide a procedure to construct a distributed controller to ensure the robust stability of the closed-loop system and to achieve a prescribed lzgain *** effectiveness of the proposed approach is demonstrated by some numerical examples.

关键词： Networked system time delay integral quadratic constraints(IQCs) robust stability distributed control

distributed control Using Positive Quadratic Programming

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Distributed Control Using Positive Quadratic Programming

第三十届中国控制会议

作者： RANTZER Anders Automatic control LTH Lund UniversityBox 118SE-22100 LundSweden

ISBN: (纸本)9789881725592

＜正＞State space descriptions with nonnegative coefficients define an important class of dynamical systems,so-called positive systems,with many applications in science and *** particular,they appear naturally in the study of electrical power *** systems have properties that are particularly attractive for distributed *** example,they allow stability to be verified without conservatism in a distributed ***,optimal controllers with constraints can be designed using Positive Quadratic *** is a special case of standard quadratic programming,which exploits positivity of coefficients in objective function and *** technique is here illustrated by examples from electrical networks.

关键词： distributed control Optimal Power Flow Positive Systems

Robust distributed control of robot formations with parameter uncertainty

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控制理论与应用（英文版） 2011年第4期9卷 513-520页

作者： Huang HUANG Qinghe WU Di YU Beijing Institute of control Engineering and Science and Technology on Space Intelligent Control Laboratory Beijing 100190 China School of Automation Beijing Institute of Technology B eijing 100081 China

This paper discusses robot formations in a distributed framework. The most important contribution is the incorporation of robustness into robot formation systems. When robots carry out tasks in a poor environment, the parameters in their models fluctuate around the nominal values, which may destroy the stability of the formation system. By modeling the group of robots as an interconnected system, we aim to develop a set of robust distributed controllers such that the overall system is robust to external disturbance as well as parameter uncertainty. Based on the graph rigidity theory, we also consider the rotation of a formation that plays an important role in real-time applications. Both simulations and real-time experiments are carried out to validate the effectiveness of the proposed framework.

关键词： Robots formation distributed control Parameter uncertainty LMI

Cooperative Sensing and distributed control of a Diffusion Process Using Centroidal Voronoi Tessellations

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Numerical Mathematics(Theory,Methods and Applications) 2010年第2期3卷 162-177页

作者： Haiyang Chao Yang-Quan Chen Center for Self Organizing and Intelligent Systems Electrical and Computer Engineering Department Utah State University Logan UT 84322 USA.

This paper considers how to use a group of robots to sense and control a diffusion *** diffusion process is modeled by a partial differential equation (PDE),which is a both spatially and temporally variant *** robots can serve as mobile sensors,actuators,or *** Voronoi Tessellations based coverage control algorithm is proposed for the cooperative sensing *** the diffusion control problem,this paper considers spraying control via a group of networked mobile robots equipped with chemical neutralizers,known as smart mobile sprayers or actuators,in a domain of interest having static mesh sensor network for concentration *** paper also introduces the information sharing and consensus strategy when using centroidal Voronoi tessellations algorithm to control a diffusion *** information is shared not only on where to spray but also on how much to spray among the mobile *** from using CVT and information consensus seeking for sensing and control of a diffusion process are demonstrated in simulation results.

关键词： Consensus centroidal Voronoi tessellations diffusion process distributed control mobile actuator and sensor networks.

On Dynamic distributed control and Its Application to Multi-Robot Systems 36

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On Dynamic Distributed Control and Its Application to Multi-...

第36届中国控制会议

作者： Xiaolu Ding School of Automation Science and Electrical Engineering Beihang University（BUAA）

ISBN: (纸本)9781538629185

This paper contributes to addressing the rendezvous problem of multi-robot systems.A dynamic distributed controller that adopts the multi-sensor information fusion is designed for the position control of *** is shown that if the communication digraph has a spanning tree,then the positions of all robots reach ***,two algorithms are proposed by applying the dynamic distributed controller although the robots are subject to nonholonomic model *** first one adopts a certain transformation to convert the kinematic model of the mobile robot to an integrator model,based on which the dynamic distributed controller can be directly *** other one develops a two-layer control *** dynamic distributed controller is applied in the position control layer,and a desired angle of the direction control can be obtained simultaneously.A tracking algorithm is designed in the direction control layer for each single robot,which is shown with the ability to track the desired *** tests are conducted to validate the effectiveness of the proposed algorithms.

关键词： Dynamic controller distributed control Multi-Robot Systems Rendezvous

distributed control of Unmanned Aerial Vehicle Elastic Formation with Speed Adaptability

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Distributed Control of Unmanned Aerial Vehicle Elastic Forma...

第36届中国控制会议

作者： ZHANG Hongmei WANG weining XU Guangyan School of Automation Shenyang Aerospace University

For a team of unmanned aerial vehicles（UAVs） in the leader-follower type,the dynamic relative position relationships between followers and the leader are described with elastic distance *** desired geometric shape in formation change and maintenance is constructed via the elastic coefficient matrix of distance in the three dimensional *** the second-order kinematics model,follower vehicles’ control equation is linearized with the elastic distance ***,the distributed control strategy is adopted for information interaction of UAVs in the formation and the feedback control algorithm is designed for the formation elastic *** results show that this control method can effectively achieve the formation geometry shape changing and maintaining during the flight ***,the elastic distance between two adjacent vehicles can adapt to the changes of the leader vehicles’ velocities,so the tracking performance is not only improved greatly but also more secure.

关键词： Elastic formation Three-dimensional space distributed control UAVs