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This paper proposes a distributed control result for strong output-agreement of a class of second-order nonlinear multi-agent systems. The nonlinear dynamics of the agents are handled by a class of nonlinear control laws. It is first proved that each controlled agent admits a positively invariant set if the outputs of the neighboring agents are bounded. Then, by showing the existence of a positively...
This paper studies the distributed nonlinear control of multi-agent systems with switching topologies for output agreement. A novel cyclic-small-gain approach is proposed. The crucial idea is to introduce a new dynamic mechanism to process the exchanged information between the agents, and to transform the distributed control problem into a stabilization problem for a dynamic network composed of input-to-output...
The problem of controlling systems through quantized communication channels has recently attracted a lot of attention from the controls community. The strong nonlinear characteristics of quantization such as discontinuity and saturation cause the major difficulties of quantized control. This paper reviews the results available in the literature of quantized control of linear and nonlinear systems,...
This paper studies the quantized partial-state feedback stabilization of a class of nonlinear cascaded systems with dynamic uncertainties. Under the assumption that the dynamic uncertainties are input-to-state practically stable, we develop a novel recursive design method for quantized stabilization by taking into account the influence of quantization and using the small-gain theorem. When the dynamic...
This paper presents a robust optimal controller design for unknown nonlinear systems from a perspective of robust adaptive dynamic programming (robust-ADP). The proposed methodology has several novel features. First, the class of nonlinear systems studied in the paper allows for the presence of dynamic uncertainties with unmeasured state and uncertain system order/dynamics. Second, in the absence...
We propose a framework of robust approximate dynamic programming (robust-ADP), which is aimed at computing globally asymptotically stabilizing, suboptimal, control laws with robustness to dynamic uncertainties, via on-line/off-line learning. The system studied in this paper is an interconnection of a linear model with fully measurable state and unknown dynamics, and a nonlinear system with unmeasured...
This paper presents a fundamentally novel approach to quantized output-feedback control of nonlinear systems. The advances made toward this challenging, yet important, problem are a seamless integration of dynamic quantization and the recently developed cyclic-small-gain theorem. The constructed output-feedback quantized controller guarantees the input-to-state stability (ISS) property for the closed-loop...
In this paper, we study the synchronization problem for a wide class of weighted complex dynamical networks with nonlinear perturbations. We provide some conditions that ensure the robust (exponential) synchronization of weighted complex dynamical networks. Particularly, the main synchronization results in [1]-[3] can be recovered by our results. Numerical simulations are given to demonstrate our...
This paper addresses the problem of constructing Lyapunov-Krasovskii functionals for verifying integral input-to-state stability(iISS) and input-to-state stability(ISS) of time-delay nonlinear systems. Based on decomposition of a time-delay system into a dynamic component (a functional differential equation) and static components (functional algebraic equations), this paper develops an iISS small-gain...
This talk raises more questions than providing solutions to advanced nonlinear control. It is believed that ISS and small-gain techniques, combined with Lyapunov approaches, will also be important for other classes of dynamical control systems. To name only a few, they are nonlinear switched systems, networked control systems, nonlinear delay systems, large-scale complex systems with fixed and variable...
This paper considers the detectability problem for a class of continuous-time descriptor systems with Lipschitzian nonlinear dynamics via limited capacity digital communication channels. A sufficient condition for detectability is presented by means of linear inequality matrix
The stochastic resonance effect can be realized by tuning system parameters or by adding noise. This paper investigates the possibility to enhance the stochastic resonance effect by tuning system parameters and adding noise simultaneously. First, we use examples to demonstrate the situation where only the system parameters or noise can be adjusted to maximize the stochastic resonance effect. Then,...
In this paper, robust finite-time control problem of nonlinear systems with dynamic uncertainties is investigated. To solve this problem, a partial-state control design is proposed in a constructive way. With small-gain type local conditions, finite-time stabilization of a class of uncertain nonlinear systems is obtained
In this note we discuss the problems of output feedback stabilization for a class of cascaded systems and of (approximate) output regulation for general nonlinear systems. It is shown that (global) output feedback stabilization for a class of systems in feedforward form can be achieved with a dynamic feedback law, yielding bounded control, and relying on the introduction of a reduced order observer...
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