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This paper studies the synchronization problem for a heterogenous network with general interaction digraphs. The networked agents are assumed to be second-order uncertain nonlinear systems. Based on internal model design and dynamic gain technique, we develop an effective synchronization design, which can be easily scaled as the network size increases. Moreover, as long as the interaction digraph...
This paper focuses on the H∞ control synthesis of a class of linear time-invariant (LTI) system in cyber-physical systems based on a wireless neuron control network (WNCN), which works as the distributed compensator. Each node in the WNCN is called wireless neuron node, whose function is sector-bounded nonlinearities, while the entire WNCN takes the role of distributed dynamical output feedback controller...
This paper investigates the distributed control problem for a set of identical decoupled multi-agent systems with a performance index coupling the behavior between the multi-agents. Based on the optimal centralized control theory, an existence condition for optimal distributed controller is firstly proposed. It shows that the globally optimal distributed controller is dependent on the structure of...
In this paper, stability analysis is studied for coupled complex networks using distributed control in a unified model. Under this new model, we combine the multi-agent systems with complex networks nicely, allowing for inherent physical connections between agents and communication transmissions among controllers. Necessary and sufficient conditions under both distributed state feedback and observer-based...
This paper studies the distributed consensus problems for a group of second-order multi-agent systems under directed communication topology. A class of distributed fixed-time consensus protocols are designed by using motion planning approaches and Pontryagins principle. The proposed protocol only requires relative information measurements at the sampling instants, without requiring information exchanges...
This paper considers the consensus problem of multi-agent systems. It is pointed out that the existing consensus protocols decouple the effects of the agent and protocol dynamics of the consensus stability from that of the communication topology. In this paper, an integrated design approach is presented, under which a novel distributed adaptive consensus protocol is proposed to achieve consensus of...
In this paper, an output regulation problem for multi-agent linear systems is considered. For such a problem, we have proposed a distributed controller design strategy based on composite nonlinear feedback (CNF) control. The composite nonlinear feedback (CNF) control consists of the dynamic state feedback servo-regulator and the nonlinear control part. The dynamic state feedback servo-regulator includes...
This paper investigates radial expansion-contraction control of second-order multi-agent systems relative to a group of targets, which can be stationary or moving. Formal definition of radial expansion-contraction control is introduced. Then, a central estimator with parameter in differential form is constructed. Based on the proposed estimator, the state feedback control protocol is designed to achieve...
This paper investigates the circular formation control problem of multiple mobile robots. Each robot is assumed to have its local coordinate frame and the communication topology of the networked multi-robot systems is modeled by a directed graph containing a spanning tree. A distributed dynamic control law is developed by using the measurement via local sensing and the information of its neighbors...
This paper investigates the consensus problem of multi-agent systems which each agent ia a switched system with a fixed topology. Each subsystem of any agents is not stabilizable, the discretized Laypunov function technique is applied to design switching law satisfying dwell time. Since the states of agents can not be measurable, a distributed observer-based consensus protocol is proposed to solve...
The cooperative simultaneous attack problem with multiple missiles against a single target under leader-follower communication graphs is addressed in this paper. Based on the neighboring missiles' time-to-go estimates, which are determined by missiles' ranges-to-go over the closing speeds, a distributed guidance law is proposed. By using algebraic graph theory and Lyapunov stability theory, it is...
This paper addresses a study of distributed fault tolerant control (FTC) for wireless networked control systems (WNCSs) in industrial automatic processes. The interconnection among distributed WNCSs brings complexity not only to the structure but also to the communication scheduler. This paper especially concerns the distributed FTC strategy for WNCSs with network-induced effects. Finally, the proposed...
In this paper, we propose a distributed stochastic model predictive control (DSMPC) algorithm for a team of linear subsystems sharing coupled probabilistic constraints. Each subsystem is subject to both parameter uncertainty and stochastic disturbances. To handle the probabilistic constraints, we first decompose the state trajectory into a nominal part and an uncertain part. The latter one is further...
This paper investigates the problem of collision-free coordination tracking control for multi-agent system under modeling uncertainties, actuator faults and disturbances. By syncretizing the Null-Space-based Behavioral (NSB) control and finite-time control method, a novel reference velocity signal is predesigned to achieve finite-time obstacle avoidance and coordination tracking. Then a set of finite-time...
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