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cooperative control of discrete-time linear multi-agent systems with fixed information structure

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控制理论与应用（英文版） 2012年第3期10卷 403-409页

作者： Jing WANG Xiaohong NIAN Haibo WANG School of Information Science and Engineering Central South UniversityChangsha Hunan 410083China

In this paper, a cooperative control problem was investigated for discrete-time linear multi-agent systems with fixed information structure and without communication delays. Based on the bilinear matrix inequality （BMI）, the sufficient condition was obtained for the stabilization of multi-agent systems composed of N agents. Then, the design problems of cooperative controllers were converted into the optimization problems with BMI constraints. To solve these problems, an optimization algorithm was proposed. Finally, numerical examples were provided to demonstrate the reduced conservatism of the proposed condition.

关键词： cooperative control Bilinear matrix inequality （BMI） Multi-agent system

Distributed cooperative control of Battery Energy Storage Systems in DC Microgrids

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IEEE/CAA Journal of Automatica Sinica 2021年第3期8卷 606-616页

作者： Tingyang Meng Zongli Lin Yacov A.Shamash Charles L.Brown Department of Electrical and Computer Engineering University of VirginiaCharlottesvilleVA 22904-4743 USA Department of Electrical and Computer Engineering Stony Brook UniversityStony BrookNY 11794-2350 USA

The control of battery energy storage systems(BESSs)plays an important role in the management of microgrids.In this paper,the problem of balancing the state-ofcharge(SoC)of the networked battery units in a BESS while meeting the total charging/discharging power requirement is formulated and solved as a distributed control problem.Conditions on the communication topology among the battery units are established under which a control law is designed for each battery unit to solve the control problem based on distributed average reference power estimators and distributed average unit state estimators.Two types of estimators are proposed.One achieves asymptotic estimation and the other achieves finite time estimation.We show that,under the proposed control laws,SoC balancing of all battery units is achieved and the total charging/discharging power of the BESS tracks the desired power.A simulation example is shown to verify the theoretical results.

关键词： cooperative control energy storage systems microgrids multi-agent systems

Real-time controller hardware-in-the-loop co-simulation testbed for cooperative control strategy for cyber-physical power system

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Global Energy Interconnection 2021年第2期4卷 214-224页

作者： Zhenyu Wang Donglian Qi Jingcheng Mei Zhenming Li Keting Wan Jianliang Zhang College of Electrical Engineering Zhejiang UniversityHangzhouZhejiang310027P.R.China

Various distributed cooperative control schemes have been widely utilized for cyber-physical power system(CPPS),which only require local communications among geographic neighbors to fulfill certain goals.However,the process of evaluating the performance of an algorithm for a CPPS can be affected by the physical target characteristics and real communication conditions.To address this potential problem,a testbed with controller hardware-in-the-loop(CHIL)is proposed in this paper.On the basis of a power grid simulation conducted using the real-time simulator RT-LAB developed by the company OPAL-RT,along with a communication network simulation developed with OPNET,multiple distributed controllers were developed with hardware devices to directly collect the real-time operating data of the power system model in RT-LAB and provide local control.Furthermore,the communication between neighboring controllers was realized using the cyber system modelin OPNET with an Ethernet interface.The hardware controllers produced a real-world control behavior instead of a digital simulation,and precisely simulated the dynamic features of a CPPS with high speed.A classic cooperative control case for active power output was studied to explain the integrated simulation process and validate the effectiveness of the co-simulation testbed.

关键词： Cyber-physical power system cooperative control Co-simulation testbed Hardware-in-the-loop

Distributed cooperative control of autonomous multi-agent UAV systems using smooth control

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Journal of Systems Engineering and Electronics 2020年第6期31卷 1297-1307页

作者： BELKACEM Kada MUNAWAR Khalid MUHAMMAD Shafique Shaikh Department of Aerospace Engineering King Abdulaziz UniversityJeddah 21589Saudi Arabia Department of Electrical and Computer Engineering King Abdulaziz UniversityJeddah 21589Saudi Arabia

This paper addresses the cooperative control problem of multiple unmanned aerial vehicles(multi-UAV)systems.First,a new distributed consensus algorithm for second-order nonlinear multi-agent systems(MAS)is formulated under the leader-following approach.The algorithm provides smooth input signals to the agents’control channels,which avoids the chattering effect generated by the conventional sliding mode-based control protocols.Second,a new formation control scheme is developed by integrating smooth distributed consensus control protocols into the geometric pattern model to achieve three-dimensional formation tracking.The Lyapunov theory is used to prove the stability and convergence of both distributed consensus and formation controllers.The effectiveness of the proposed algorithms is demonstrated through simulation results.

关键词： cooperative control distributed consensus three-dimensional formation control multiple-UAV system

cooperative control of High-speed Trains with Transmission Delay via Active Compensation Approach

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Cooperative Control of High-speed Trains with Transmission D...

cooperative control of Backstepping Neural Network and Port-controlled Hamiltonian for Robot System

第三十九届中国控制会议

作者： Zixuan Zhang Shigen Gao Haifeng Song Hairong Dong State Key Laboratory of Rail Traffic control and Safety Beijing Jiaotong University School of Electronic and Information Engineering Beijing Jiaotong University

The cooperative control problem for high speed trains under transmission delay is discussed in this paper. The control law is constructed guaranteeing that all the trains can operate at the desired distance and speed profile cooperatively. An active compensation approach is used to handle the transmission delays when each train communicates with its neighbors and gets information. In addition, adaptive laws are designed to deal with parametric and environmental uncertainties. Simulation results are displayed to demonstrate the effectiveness of the proposed method.

关键词： High speed trains Transmission delay cooperative control

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Cooperative Control of Backstepping Neural Network and Port-...

Distributed cooperative control of multiple high-speed trains under a moving block system by nonlinear mapping-based feedback

2021中国智能自动化大会(CIAC2021)

作者： Yuliang Shang Haisheng Yu Zhihao He Congcong Yue Kejia Yan Anxing Liu School of Automation Qingdao University

It is difficult for a single control method to track the position quickly and accurately at the end of the robot. To solve this problem, a cooperative control strategy of backstepping adaptive neural network(BS-RBFNN) signal control and port controlled Hamiltonian(PCH)energy control is proposed. BS-RBFNN solves the problem of rapidity when the system is in dynamic state, PCH control solves the problem of accuracy when the system is in steady state. The cooperative function based on the error is designed, and the cooperative control of the robot joint system is realized by using this function. The robot joint position servo system can not only realize the rapid adjustment of the dynamic position, but also realize the high precision tracking control in the steady state. Simulation results show that the system achieves fast dynamic response and accurate steady-state position tracking by using cooperative control method.

关键词： Robot cooperative control Backstepping adaptive neural network Port controlled Hamiltonian

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Science China(Information Sciences) 2018年第12期61卷 22-33页

作者： Bin NING Hairong DONG Shigen GAO Tao TANG Wei ZHENG State Key Laboratory of Rail Traffic control and Safety Beijing Jiaotong University National Research Center of Railway Safety Assessment Beijing Jiaotong University

Although the high-speed railways in China have been greatly advanced in the past decades with respect to expanding networks and increasing speed, a fixed block system, which separates the trains with several stationary track block sections, is utilized to guarantee the safe operation of multiple trains. A moving block system, which enables the moving authority of a high-speed train to be the real-time positioning point of its preceding one(plus some necessary safe redundant distance, of course), is under development to further make full use of the high-speed railway lines and improve the automation level by automatic train operation for high-speed trains. The aim of this paper is to design a distributed cooperative control for high-speed trains under a moving block system by giving a cooperative model with a back-fence communication topology. A nonlinear mapping-based feedback control method together with a rigorous mathematic proof for the global stability and ultimate bound of the closed-loop control systems is proposed. Comparative results are given to demonstrate the effectiveness and advantages of the proposed method.

关键词： high-speed trains moving block system cooperative control

Distributed cooperative control Algorithm for Multi-UAV Mission Rendezvous

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Transactions of Nanjing University of Aeronautics and Astronautics 2017年第6期34卷 617-626页

作者： Liu Guoliang Xing Dongjing Hou Jianyong Jin Guting Zhen Ziyang Science and Technology on Avionics Integration Laboratory Shanghai 200233P.R.China College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016P.R.China China National Aeronautical Radio Electronics Research Institute Shanghai 200233P.R.China

Multiple unmanned aerial vehicles(UAVs)cooperative operation is the main form for UAVs fighting in battlefield,and multi-UAV mission rendezvous is the premise of cooperative reconnaissance and attack missions.We propose a rendezvous control strategy,which divides the rendezvous process into two parts:The loose formation rendezvous and the close formation rendezvous.In the first stage,UAVs are supposed to reach the specific target locations simultaneously and form a loose formation.A distributed control strategy based on first-order consensus algorithm is presented to achieve this goal.Then the second stage is designed based on the second-order consensus algorithm to complete the transition from the loose formation to the close formation.This process needs the speeds and heading angles of UAVs to reach an agreement.Besides,control algorithms with a virtual leader are proposed,by which the formation states can reach a specific value.Finally,simulation results show that the control algorithms are capable of realizing the mission rendezvous of multi-UAV and the consistence of UAVs′final states,which verify the effectiveness and feasibility of the designed control strategy.

关键词： unmanned aerial vehicles loose formation rendezvous close formation rendezvous consensus algorithm cooperative control

cooperative Formation control of Autonomous Underwater Vehicles:An Overview

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International Journal of Automation and computing 2016年第3期13卷 199-225页

作者： Bikramaditya Das Bidyadhar Subudhi Bibhuti Bhusan Pati Department of Electrical Engineering Veer Surendra Sai University of Technology Department of Electrical Engineering National Institute of Technology

Formation control is a cooperative control concept in which multiple autonomous underwater mobile robots are deployed for a group motion and/or control mission. This paper presents a brief review on various cooperative search and formation control strategies for multiple autonomous underwater vehicles （AUV） based on literature reported till date. Various cooperative and formation control schemes for collecting huge amount of data based on formation regulation control and formation tracking control are discussed. To address the challenge of detecting AUV failure in the fleet, communication issues, collision and obstacle avoidance are also taken into attention. Stability analysis of the feasible formation is also presented. This paper may be intended to serve as a convenient reference for the further research on formation control of multiple underwater mobile robots.

关键词： Autonomous underwater vehicles （AUV） cooperative control formation control tracking control regulatory control.