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A Parametric Lyapunov Equation Approach to the Design of low gain feedback

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A Parametric Lyapunov Equation Approach to the Design of Low...

第二十六届中国控制会议

作者： Zhou Bin1,Duan Guangren1,Lin Zongli2 1.Center for Control Theory and Guidance Technology,Harbin Institute of Technology,P.O.Box 416,Harbin,Heilongjiang 150001,P.R.China2.Charles L.Brown Department of Electrical and Computer Engineering,University of Virginia,P.O.Box 400743,Charlottesville,VA22904-4743,U.S.A.

low gain feedback has found several applications in constrained control systems,robust control and nonlinear *** gain feedback refers to a family of stabilizing state feedback gains that are parameterized in a scalar and go to zero as the scalar decreases to *** feedback gains can be constructed either by an eigenstructure assignment algorithm or through the solution of a parametric algebraic Riccati equation （ARE）.The eigenstructure assignment approach leads to feedback gains in the form of a matrix polynomial in the parameter,while the ARE approach requires the solution of an ARE for each value of the *** paper proposes an alternative approach to low gain feedback design based on the solution of a parametric Lyapunov *** an approach possesses the advantages of both the eigenstructure assignment approach and the ARE based *** also avoids the possible numerical stiffness in solving a parametric ARE and the structural decomposition of the open loop system that is required by the eigenstructure assignment approach.

关键词： low gain feedback actuator saturation semi-global stabilization global stabilization set invariance parametric Lyapunov equation

low gain and low-and-High gain feedback:A Review and Some Recent Results

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Low Gain and Low-and-High Gain Feedback:A Review and Some Re...

2009中国控制与决策会议

作者： Zongli Lin Charles L.Brown Department of Electrical and Computer Engineering,University of Virginia,P.O.Box 400473,Charlottesville,VA 22904-4743,USA.

＜正＞low gain feedback refers to a family of stabilizing state feedback gains that are parameterized in a scalar and go to zero as the scalar decreases to *** gain feedback was initially proposed to achieve semi-global stabilization of linear systems subject to input *** was then combined with high gain feedback in different ways for solving various control *** resulting feedback laws are referred to as low-and-high gain *** the introduction of low gain feedback in the context of semi-global stabilization of linear systems subject to input saturation,there has been effort to develop alternative methods for low gain design, to characterize key features of low gain feedback,and to explore new applications of the low gain and low-and-high gain *** talk reviews the developments in low gain and low-and-high gain feedback *** of the results mentioned in the talk have appeared in the literature.A few recent results are still under review for publication.

关键词： low gain feedback low-and-high gain feedback composite nonlinear feedback input saturation actuator saturation nonlinear control

Semi-global leader-following consensus-based formation flight of unmanned aerial vehicles

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Chinese Journal of Aeronautics 2022年第1期35卷 31-43页

作者： Panpan ZHOU Ben M.CHEN Department of Mechanical ami Automation Engineering The Chinese University of Hong KongHong KongChina

In this paper,we investigate a formation control problem of multi-agent systems(specifically a group of unmanned aerial vehicles)based on a semi-global leader-following consensus approach with both the leader and the followers subject to input *** the low gain feedback design technique,a distributed static control protocol and a distributed adaptive control protocol are *** former solves the problem under an assumption that the communication network is undirected,and it depends on the global information of the *** the latter,we relax the undirected graph to directed ***,an adaptive updating gain is designed to avoid using the global information of the communication *** is shown that the consensus protocols can solve the semi-global leader-following consensus problem if the leader agent is globally *** results are verified successfully by both simulation and real flight tests.

关键词： Consensus Formation flying Input saturation low gain feedback Multi-agent systems Unmanned aerial vehicles

Semi-global weighted output average tracking of discrete-time heterogeneous multi-agent systems subject to input saturation and external disturbances

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Control Theory and Technology 2023年第3期21卷 315-333页

作者： Qilin Song Yuanlong Li Yijing Xie Zongli Lin Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Department of Electrical Engineering University of Texas at ArlingtonArlington 76019TXUSA Charles L.Brown Department of Electrical and Computer Engineering University of VirginiaCharlottesville 22904-4743VAUSA

In this paper,we revisit the semi-global weighted output average tracking problem for a discrete-time multi-agent system subject to input saturation and external *** multi-agent system consists of multiple heterogeneous linear systems as leader agents and multiple heterogeneous linear systems as follower *** design both the state feedback and output feedback control protocols for each follower *** particular,a distributed state observer is designed for each follower agent that estimates the state of each leader *** the output feedback case,state observer is also designed for each follower agent to estimate its own *** these estimates,we design low gain-based distributed control protocols,parameterized in a scalar low gain *** is shown that,for any bounded set of the initial conditions,these control protocols cause the follower agents to track the weighted average of the outputs of the leader agents as long as the value of the low gain parameter is tuned sufficiently *** results illustrate the validity of the theoretical results.

关键词： Distributed average tracking Input saturation low gain feedback Heterogeneous multi-agent systems Output regulation

Semi-global leader-following output consensus of heterogeneous systems subject to actuator position and rate saturation

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Autonomous Intelligent Systems 2021年第1期1卷 91-103页

作者： Panpan Zhou Ben M.Chen Department of Mechanical and Automation Engineering The Chinese University of Hong KongShatinN.T.Hong Kong

We study in this paper a semi-global leader-following output consensus problem for multiple heterogeneous linear systems in the presence of actuator position and rate saturation over a directed *** each follower,via the low gain feedback design technique and output regulation theory,both a state feedback consensus protocol and an output feedback consensus protocol are *** the output feedback case,different distributed observers are designed for the informed followers and uninformed followers to estimate the state of the leader and the follower *** show that the semi-global leader-following output consensus of heterogeneous linear systems can be achieved by the two consensus protocols if each follower is reachable from the leader in the directed communication topology.

关键词： Multi-agent system Output consensus low gain feedback

On semi-global stabilization of minimum phase nonlinear systems without vector relative degrees

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Science in China(Series F) 2009年第11期52卷 2153-2162页

作者： LIU XinMin LIN ZongLi Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400473 Charlottesville VA 22904-4743 USA

Recently, we developed a structural decomposition for multiple input multiple output nonlinear systems that are affine in control but otherwise general. This structural decomposition simplifies the conventional backstepping design and allows a new backstepping design procedure that is able to stabilize some systems on which the conventional backstepping is not applicable. In this paper we further exploit the properties of such a decomposition for the purpose of solving the semi-global stabilization problem for minimum phase nonlinear systems without vector relative degrees. By taking advantage of special structure of the decomposed system, we first apply the low gain design to the part of system that possesses a linear dynamics. The low gain design results in an augmented zero dynamics that is locally stable at the origin with a domain of attraction that can be made arbitrarily large by lowering the gain. With this augmented zero dynamics, backstepping design is then applied to achieve semi-global stabilization of the overall system.

关键词： nonlinear systems structural decomposition semi-global stabilization low gain feedback

Coverage control for heterogeneous mobile sensor networks with limited communication ranges

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Coverage control for heterogeneous mobile sensor networks wi...

第36届中国控制会议

作者： Cheng Song Yuan Fan School of Automation Nanjing University of Science and Technology School of Electrical Engineering and Automation Anhui University

ISBN: (纸本)9781538629185

The coverage control problem for heterogeneous mobile sensor networks with limited communication ranges is addressed in this paper,where the goal is to minimize a coverage cost function which indicates the largest arrival time from the mobile sensor network to the points on a circle.A distributed coverage control law is developed for each sensor via low gain feedback *** the proposed control laws,heterogeneous mobile sensors can be driven to the configuration minimizing the coverage cost function as long as the sensors’ communication ranges exceed a threshold and network connectivity of the sensors needs not to be preserved in this work.

关键词： Coverage control Mobile sensor networks Distributed control low gain feedback

Consensus of Linear Multi-Agent Systems With Distributed Infinite Transmission Delays: A low gain Method

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Consensus of Linear Multi-Agent Systems With Distributed Inf...

第37届中国控制会议

作者： Xiang Xu Gang Feng Department of Mechanical and Biomedical Engineering City University of Hong Kong

This paper considers the consensus problem of linear multi-agent systems with distributed infinite transmission delays.A novel low gain feedback control approach is proposed and it is shown that our proposed approach can solve the consensus problem if the open loop dynamics do not have any exponentially unstable component. It is also shown that in a special case when the open loop dynamics have all their eigenvalues at the origin, the structure of proposed controller could be much simpler. Our work is the first attempt on the consensus problem of general linear multi-agent systems with distributed infinite delays. Another distinctive advantage of our work is that the knowledge of delays is not required to be known. Moreover, the bounded distributed delays and the constant delays can be included as our special cases. Two simulation examples are proposed to illustrate the effectiveness of our results.

关键词： Consensus infinite delays linear multi-agent systems low gain feedback

Semi-global leader-following output consensus of heterogeneous systems with position and rate-limited actuators via state feedback

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Semi-global leader-following output consensus of heterogeneo...

第40届中国控制会议

作者： Panpan Zhou Ben M.Chen Department of Mechanical and Automation Engineering The Chinese University of Hong Kong

Inspired by the importance of actuator position and rate constraint, we study in this paper the semi-global leaderfollowing output consensus problem of multiple heterogeneous linear systems in the presence of actuators position and rate saturation via state feedback control. We design a distributed leader state observer, based on which a state feedback output consensus protocol is constructed for each follower. In addition, we propose a framework of formation control by combining consensus control and model predictive control to resolve the problem of obstacle and inter-agent collisions. The effectiveness of our approach is verified by simulation and actual flight experiments of UAVs.

关键词： Multi-agent systems Actuator position and rate saturation low gain feedback Collision avoidance