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Science China(Information Sciences) 2024年第5期67卷 165-182页

作者： Bo CHEN Jiangping HU Bijoy Kumar GHOSH School of Automation Engineering University of Electronic Science and Technology of China Key Laboratory of Intelligent Analysis and Decision on Complex Systems Chongqing University of Posts and Telecommunications Yangtze Delta Region Institute (Huzhou) University of Electronic Science and Technology of China Department of Mathematics and Statistics Texas Tech University

The development of a distributed trajectory-tracking control strategy that is independent of velocity measurements is critical to achieving finite-time tracking control of autonomous underwater vehicle(AUV) systems. In this study, a group of heterogeneous AUV systems with intermittent communication links is considered and a finite-time trajectory-tracking control strategy is developed. The strategy includes two observers and one controller proposed for each follower-AUV. The first observer, a hybrid finite-time observer,estimates the state of the leader, whereas the second observer, which relies only on the position measurement,is proposed to estimate the states of the follower-AUV itself. In addition, a distributed trajectory-tracking controller is designed using the states estimated by the intermittent communication network even without velocity measurements. A homogeneous technique is utilized to prove that all followers can track the leader in a finite time. Finally, the effectiveness of the developed finite-time tracking control strategy is illustrated by numerical simulations.

关键词： distributed observer finite-time tracking homogeneous technique intermittent communication multiple heterogeneous AUVs

distributed Multicircular Circumnavigation Control for UAVs with Desired Angular Spacing

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Defence Technology（防务技术） 2024年第1期31卷 429-446页

作者： Shixiong Li Xingling Shao Wendong Zhang Qingzhen Zhang National Key Laboratory for Electronic Measurement Technology School of Instrument and ElectronicsNorth University of ChinaTaiyuan 030051China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100086China

This paper addresses a multicircular circumnavigation control for UAVs with desired angular spacing around a nonstationary target.By defining a coordinated error relative to neighboring angular spacing,under the premise that target information is perfectly accessible by all nodes,a centralized circular enclosing control strategy is derived for multiple UAVs connected by an undirected graph to allow for formation behaviors concerning the moving target.Besides,to avoid the requirement of target’s states being accessible for each UAV,fixed-time distributed observers are introduced to acquire the state estimates in a fixed-time sense,and the upper boundary of settling time can be determined offline irrespective of initial properties,greatly releasing the burdensome communication traffic.Then,with the aid of fixed-time distributed observers,a distributed circular circumnavigation controller is derived to force all UAVs to collaboratively evolve along the preset circles while keeping a desired angular spacing.It is inferred from Lyapunov stability that all errors are demonstrated to be convergent.Simulations are offered to verify the utility of proposed protocol.

关键词： Angular spacing distributed observer Multicircular circumnavigation Moving target UAVs

distributed observer for General Linear Leader Systems over Periodic Switching Digraphs

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Distributed Observer for General Linear Leader Systems over ...

第三十九届中国控制会议

作者： Changran He Jie Huang Department of Mechanical and Automation Engineering The Chinese University of Hong Kong

A long-standing assumption on the existence of the distributed observer for a linear leader system over jointly connected switching networks is that none of the eigenvalues of the system matrix of the leader system have positive real parts. In this paper, after establishing a stability result for a class of linear periodic switched systems, we show that a distributed observer for general linear leader systems over jointly connected switching networks exists provided that the switching signal is periodic with its period sufficiently small. As an application of the distributed observer, we solve the cooperative output regulation for linear multi-agent systems with general linear leader systems over periodic jointly connected switching networks. A numerical example is provided to illustrate our design.

关键词： Multi-agent systems distributed observer switched systems cooperative control

distributed observer-based time-varying formation tracking for high-order multi-agent systems with nonlinear dynamics

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Distributed observer-based time-varying formation tracking f...

第36届中国控制会议

作者： Jianglong Yu Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

Time-varying formation tracking problems for high-order nonlinear multi-agent systems are investigated by using a distributed observer-based method.Different from the previous work,the states of followers form a predefined time-varying formation while tracking the states of the leader with unknown but bounded control input.Besides,the dynamics of each agent is high-order and has nonlinearity.Firstly,a nonlinear time-varying formation tracking control protocol is proposed based on the distributed observer which is constructed using only local neighboring output information.Secondly,an algorithm with three steps is proposed to design the distributed observer-based formation tracking protocol,where the time-varying formation tracking feasibility condition is given.Thirdly,by using Lyapunov theory,the stability of the proposed algorithm is proven.Finally,a numerical example with three followers and one leader is provided to demonstrate the effectiveness of the obtained results.

关键词： Time-varying formation tracking High-order nonlinear dynamics Multi-agent systems distributed observer

Centralized Control Implementation Using distributed observer for Meglev Systems

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Centralized Control Implementation Using Distributed Observe...

第36届中国控制会议

作者： Qiang Chen Ying Tan Qing Yang Jie Li Iven Mareels College of Mechatronics Engineering and Automation National University of Defense Technology

ISBN: (纸本)9781538629185

In the control of maglev systems,decentralized control structure is widely used due to its simplicity.Due to the existence of mechanical coupling,the performance of decentralized control is limited.This paper focuses on designing a centralized controller for a small maglev platform that already has a decentralized control structure.A distributed reduced-order observer is first proposed for one suspension point to estimate the state of other suspension points using the model of the system.Consequently,a centralized control is designed and implemented with the help of the proposed decentralized observer.The simulation results show that centralized control based on distributed observer can reject the state coupling of maglev system and improve the maglev control performances efficiently.In future,the proposed distributed observer based centralized controller will be tested on the small maglev platform.

关键词： Maglev Centralized Control distributed observer

Multi-Agent Event-Triggered Consensus Based on distributed State observer

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Multi-Agent Event-Triggered Consensus Based on Distributed S...

第30届中国控制与决策会议

作者： Yang Zhang Yuan Fan Chengxiao Zhang Haohao Chen School of Electrical Engineering and Automation Anhui University

In this paper, an event-triggered mechanism based on distributed state observer is proposed for multi-agent systems. For the first-order integrated multi-agent systems, the state observer dynamic model of the system state is given. The system controller and event-triggered condition are designed respectively by using the observed states. By constructing a suitable Lyapunov function, the convergence and stability of the system are proved. Simulation examples are used to verify the feasibility of the proposed algorithm.

关键词： Multi-Agent Event-Triggered distributed observer Output Feedback

Attack-resilient distributed Control for Islanded Single-/three-phase Microgrids Based on distributed Adaptive observers

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Journal of Modern Power Systems and Clean Energy 2022年第1期10卷 109-119页

作者： Jianguo Zhou Yinliang Xu Lun Yang Hongbin Sun Tsinghua-Berkeley Shenzhen Institute(TBSI) Tsinghua Shenzhen International Graduate School(TsinghuaSIGS)Tsinghua UniversityShenzhen 518055China Department of Electrical Engineering State Key Laboratory of Power SystemsTsinghua UniversityBeijing 100084China

This paper investigates the power sharing and voltage regulation issues of islanded single-/three-phase microgrids(S/T-MGs)where both sources and loads are unbalanced and the presence of adversarial cyber-attacks against sensors of distributed generator(DG)units is considered.Firstly,each DG unit is modeled as a heterogeneous linear dynamic agent with disturbances caused by sources and loads,then the problem is formulated as a distributed containment control problem.After that,to guarantee satisfactory power sharing and voltage control performance asymptotically achieved for the S/T-MGs,an attack-resilient distributed secondary control approach is developed by designing a distributed adaptive observer.With this approach,the effect of the cyber-attacks can be neutralized to ensure system stability and preserve bounded voltage synchronization.Simulation results are presented to demonstrate the effectiveness of the proposed control approach.

关键词： Single-/three-phase microgrid cyber-attack resilient distributed control distributed observer power sharing

An overview on the designs of distributed observers in LTI multi-agent systems

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Science China(Technological Sciences) 2021年第11期64卷 2337-2346页

作者： PEI YingQing GU HaiBo LIU KeXin LU JinHu Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049China School of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain ComputingBeihang UniversityBeijing 100191China

With the rapid development of information technologies and cloud computing, sensor networks play an increasingly important role in our society. Over the past few decades, distributed observer theory has attracted unprecedented attention due to its wide potential applications in different areas. Meanwhile, various approaches and algorithms have been proposed and investigated. The design of distributed observers is one of the frontier topics of system and control research, which has the significant theoretical values and broad application prospects. This paper attempts to review the representative models and the corresponding approaches for distributed observer design in linear time-invariant(LTI) systems. Firstly, the research backgrounds and main advances of distributed observer designs are briefly reviewed. Then, recent results of distributed observer designs for discrete-time and continuous-time LTI multi-agent systems(MASs) are introduced in detail, respectively. Finally, the prospects and the future work directions of the design of distributed observers are put forward. The main purpose of this paper is to promote the emerging topic on the designs of distributed observers, with focuses on the interdisciplinary interest from technological sciences.

关键词： multi-agent system linear time-invarient system distributed observer consensus

Leader-following formation control of multi-agent networks based on distributed observers

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Chinese Physics B 2010年第10期19卷 7-15页

作者：罗小元韩娜妮关新平 Institute of Electrical Engineering Yanshan University

To investigate the leader-following formation control, in this paper we present the design problem of control protocols and distributed observers under which the agents can achieve and maintain the desired formation from any initial states, while the velocity converges to that of the virtual leader whose velocity cannot be measured by agents in real time. The two cases of switching topologies without communication delay and fixed topology with time-varying communication delay are both considered for multi-agent networks. By using the Lyapunov stability theory, the issue of stability is analysed for multi-agent systems with switching topologies. Then, by considering the time-varying communication delay, the sufficient condition is proposed for the multi-agent systems with fixed topology. Finally, two numerical examples are given to illustrate the effectiveness of the proposed leader-following formation control protocols.

关键词： formation control distributed observer multi-agent system graph theory

Continuous leaderless synchronization control of multiple spacecraft on SO(3)

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Astrodynamics 2021年第3期5卷 279-291页

作者： Ti Chen State Key Laboratory of Mechanics and Control of Mechanical Structures Nanjing University of Aeronautics and AstronauticsNanjing 211106China

This paper presents a solution to the leaderless consensus of multiple spacecraft on SO(3)under a connected undirected graph.An algorithm is proposed to generate an undirected tree graph from a connected undirected communication topology.A distributed observer is designed to estimate the desired attitude and angular velocity for each spacecraft under the generated tree graph.An adaptive controller with a general connected undirected graph is developed to complete the synchronization task.Cases with zero and nonzero final angular velocities are considered.Theoretical proofs and numerical simulations are presented to demonstrate the effectiveness of the proposed controllers.

关键词： leaderless synchronization distributed observer SO(3) adaptive controller