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Distributed h_∞ PID Feedback for Improving Consensus performance of Arbitrary-delayed Multi-agent System

International Journal of Automation and computing 2014年第2期11卷 189-196页

作者： Lin-Lin Ou Jun-Jie Chen Dong-Mei Zhang Lin-Zhang Wei-Dong Zhang Department of Automation Zhejiang University of Technology Department of Automation Shanghai Jiaotong University

The h∞ proportional-integral-differential(PID) feedback for arbitrary-order delayed multi-agent system is investigated to improve the system performance. The closed-loop multi-input multi-output(MIMO) control framework with the distributed PID controller is firstly described for the multi-agent system in a unified way. Then, by using the matrix theory, the prescribed h∞performance criterion of the multi-agent system is shown to be equivalent to several independent h∞ performance constraints of the single-input single-output(SISO) subsystem with respect to the eigenvalues of the Laplacian matrix. Subsequently, for each subsystem,the set of the PID controllers satisfying the required h∞ performance constraint is analytically characterized based on the extended hermite-Biehler theorem. Finally, the three-dimensional set of the decentralized h∞ PID control parameters is derived by finding the intersection of the h∞ PID regions for all the decomposed subsystems. The simulation results reveal the effectiveness of the proposed method.

关键词： Multi-agent system proportional-integral-differential(PID) controller h∞ performance index parametric space consensus.

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Design of Observer-Based Path Following Controllers for Autonomous Vehicles

Design of Observer-Based Path Following Controllers for Auto...

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第三十九届中国控制会议

作者： heng Wang Tengfei Zhang Qing Li Jiarui Cui Zhaolong Zhang School of Automation and Electrical Engineering Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education University of Science and Technology Beijing Shunde Graduate School of University of Science and Technology Beijing

This paper studies the path following control problem of a car-like autonomous vehicle. The vehicle kinematical model is transferred to a chain form, and the measurement of vehicle poses is assumed to be affected by noises. An observer is designed to estimate the states, and the estimated states are used as the input to the controller. To design the observer and controller simultaneously, an h performance index is adopted such that measurement noises are attenuated. Finally, the design problem is converted into a set of Linear Matrix Inequalities(LMIs), and a numerical example is provided to verify the effectiveness of the method proposed in this paper.

关键词： Autonomous vehicles path following controller h∞ performance index linear matrix inequality(LMI)

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Robust fault estimation based on Proportional Integral observer for Takagi-Sugeno fuzzy systems with actuator and sensor faults

Robust fault estimation based on Proportional Integral obser...

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第32届中国控制与决策会议

作者： Fuqiang You Chao Wang Shiya Cheng Xinyan Zhang School of Information Science and Engineering Northeastern University

This paper addresses the problems of states and faults estimation for a class of Takagi-Sugeno(T-S) fuzzy systems subject to simultaneously sensor faults, actuator faults and output disturbances. A Proportional Integral(PI)observer is proposed in this paper. The observer can not only estimate system states, sensor faults and actuator faults,but also attenuate the influence of output disturbances by introducing the h performance index. In order to get the gain matrices of the observer, one sufficient conditions are deduced in form of Linear Matrix Inequality(LMI) using Lyapunov theory. A numerical example is proposed to verify the effectiveness of the proposed method.

关键词： Proportional Integral observer Takagi-Sugeno(T-S) fuzzy systems Linear Matrix Inequality(LMI) h∞ performance index

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