检索结果-南通市图书馆

Distributed output feedback stationary consensus of multi-vehicle systems in unknown environments

Control Theory and Technology 2018年第2期16卷 93-109页

作者： Vahid REZAEI Margareta STEFANOVIC Department of Electrical and Computer Engineering University of Denver Denver CO 80208 U.S.A.

In the traditional distributed consensus of multi-vehicle systems, vehicles agree on velocity and position using limited information exchange in their local neighborhoods. Recently, distributed leaderless stationary consensus has been proposed in which vehicles agree on a position and come to a stop. The proposed stationary consensus schemes are based on all vehicles＇ access to their own absolute velocity measurements, and they do not guarantee this collective behavior in the presence of disturbances that persistently excite vehicles＇ dynamics. On the other hand, traditional distributed disturbance rejection leaderless consensus algorithms may result in an uncontrolled increase in the speed of multi-vehicle system. In this paper, we propose a dynamic relative-output feedback leaderless stationary algorithm in which only a few vehicles have access to their absolute measurements. We systematically design the distributed algorithm by transforming this problem into a static feedback robust control design challenge for the low-order modified model of vehicles with fictitious modeling uncertainties. We further propose dynamic leader-follower stationary consensus algorithms for multi-vehicle systems with a static leader, and find closed-form solutions for the consensus gains based on design matrices and communication graph topology. Finally, we verify the feasibility of these ideas through simulation studies.

关键词： Multi-vehicle system distributed control stationary consensus disturbance accommodation

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

欢迎您,

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

请选择保存的检索档案：

请选择收藏分类：

通借通还

欢迎您,

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：