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Formation control with disturbance rejection for a class of lipschitz nonlinear systems

Science China(Information Sciences) 2017年第7期60卷 29-39页

作者： Chunyan WANG Zongyu ZUO Qinghai GONG Zhengtao DING School of Electrical and Electronic Engineering University of Manchester Sackville Street Building Sino-British Joint Advanced Control System Technology Laboratory James Lighthill Building The Seventh Research Division and Science and Technology on Aircraft Control Laboratory Beihang University Beijing Aerospace Automatic Control Institute

In this paper, we consider the leader-follower formation control problem for general multi-agent systems with lipschitz nonlinearity and unknown disturbances. To deal with the disturbances, a disturbance observer-based control strategy is developed for each follower. Then, a time-varying formation protocol is proposed based on the relative state of the neighbouring agents and sufficient conditions for global stability of the formation control are identified using Lyapunov method in the time domain. The proposed strategy and analysis guarantee that all signals in the closed-loop dynamics are uniformly ultimately bounded and the formation tracking errors converge to an arbitrarily small residual set. Finally, the validity of the proposed controller is demonstrated through a numerical example.

关键词： multi-agent systems formation control lipschitz nonlinearity disturbance rejection

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Guaranteed-performance consensualization for leaderless swarm systems with lipschitz nonlinear dynamics and switching topologies

Guaranteed-performance consensualization for leaderless swar...

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第37届中国控制会议

作者： Tang Zheng Jianxiang Xi Zhicheng Yao Zhong Wang Guangbin Liu High-Tech Institute of Xi’an

Leaderless guaranteed-performance consensus design problems for lipschitz nonlinear swarm systems with jointly connected switching topologies are investigated. The consensus protocol and the quadratic performance function based on state errors are proposed to achieve the guaranteed-performance consensus. The state error method is utilized to deal with the guaranteed-performance consensualization problems. Then, the lipschitz nonlinear problems are solved by using the lipschitz condition. Moreover, the guaranteed-performance consensualization criterion for the leaderless swarm system with jointly connected switching topologies is presented in terms of Riccati inequalities and the guaranteed-performance cost is determined. In the final, a numerical simulation is presented to verify the effectiveness of the theoretical results.

关键词： Swarm system lipschitz nonlinearity guaranteed-performance consensus switching topology

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Observer design for a class of nonlinear time-delay systems

Observer design for a class of nonlinear time-delay systems

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第24届中国控制与决策会议

作者： Jiang jianhu, Song lijun, Zhang Guo Department of electrical engineering and automation, Luoyang Institute of Science and Technology, Luoyang, 471023

This paper is devoted to design of observer for a class of lipschitz nonlinear state delay systems with, or without parameter uncertainty. The nonlinearities are assumed to appear in both state and measured output equations. For both the cases with and without norm-bounded time-varying parameter uncertainties, a design method is proposed, in which linear matrix inequalities （LMIs） are solved. When certain LMIs are satisfied, the explicit expression of a desired nonlinear observer is presented. A numerical example and the simulating results are provided to demonstrate the applicability of the proposed approach.

关键词： Robust observer Time-delay system lipschitz nonlinearity Linear matrix inequality (LMI)

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Distributed Robust Leaderless Consensus of lipschitz Nonlinear Multi-agent Systems with Matching Uncertainties

Distributed Robust Leaderless Consensus of Lipschitz Nonline...

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第26届中国控制与决策会议

作者： Zhongkui Li Yu Zhao Zhisheng Duan State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceCollege of EngineeringPeking University

This paper considers the distributed robust consensus problem of multi-agent systems with lipschitz nonlinear dynamics and subject to different matching uncertainties. Due to the existence of nonidentical uncertainties, the multi-agent systems discussed in this paper are essentially heterogeneous. For the case where the communication graph is undirected and connected, based on the local state information of neighboring agents, distributed continuous static and adaptive consensus protocols are designed, under which the consensus error is uniformly ultimately bounded and exponentially converges to a small adjustable residual set.

关键词： Multi-agent systems uncertain systems lipschitz nonlinearity consensus robust control.

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