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A robust consensus controller is proposed for heterogeneous higher order nonlinear multi-agent systems (MAS), when the agent dynamics are potentially affected by mismatched uncertainties. A distributed consensus protocol based on finite time disturbance observer(FTDO) and sliding mode control is designed to realize the network consensus of higher order MAS. The control law can be used to solve the...
In supervisor synthesis achieving nonblockingness is a major computational challenge for a large system. In the literature several automaton-based distributed synthesis approaches have been proposed, in which the plant is modeled by a collection of nondeterministic finite-state automata and the requirement and the final distributed supervisor are modeled by a collection of deterministic finite-state...
Blockingness is one of the major obstacles that need to be overcome in the Ramadge-Wonham supervisory synthesis paradigm, especially for large systems. In this paper, we propose an abstraction technique to overcome this difficulty. We first provide details of this abstraction technique, then describe how it can be applied to a supervisor synthesis problem, where plant models are nondeterministic but...
Recently supervisor synthesis for nondeterministic systems has gained more and more attention, owing to the potential computational advantage of using nondeterministic automata in modular/distributed synthesis. It is well known that, in the Ramadge/Wonham language-based supervisory control paradigm, the supremal nonblocking normal supervisor always exists (although may be empty) and is computable...
Blockingness is one of the major obstacles that need to be overcome in the Ramadge-Wonham supervisory synthesis paradigm. Owing to the high computational complexity usually resulted from synchronous product, it is difficult to synthesize a nonblocking supervisor for a large scale system. In this paper we aim to overcome this difficulty by presenting a distributed synthesis approach. The core idea...
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