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In this paper, Maclaurin expansion and Padé approximation are utilized to handle the RHP zeros in the simplified decoupling control and the choosing strategy is given. To improve the robustness of each loop, Active Disturbance Rejection Control (ADRC) is adopted as a good solution which can estimate and compensate the total disturbances by the extended state observer (ESO). Besides, the stability...
This paper studies the flocking problem for flying robots in three-dimensional space. Each robot's attitude dynamics is considered. Motivated by consensus algorithms, we propose a distributed control law to achieve the flocking of flying robots. The convergence is proved by Lyapunov function and LaSalle's invariance principle. And the simulation results are given to demonstrate the effectiveness of...
This paper considers the consensus control problem for a class of non-holonomic chained systems. A smooth static distributed control algorithm is proposed with the aid of the Lyapunov direct method and LaSalle invariance principle. Strict stability analysis for the closed-loop system is presented, proving the global asymptotic convergence of the consensus errors to zero under the undirected connected...
This paper considers distributed coordinated control for multi-agent systems composed of multiple heterogeneous leaders and a class of uncertain nonlinear systems with external disturbances. What makes our problem more interesting and challenging is that the control direction of each nonlinear subsystem is unknown. Inspired by output regulation theory, based on the distributed internal model technique,...
For MIMO nonlinear differential-algebraic equations (DAE) subsystem, the Backstepping stabilization control method is studied and the results are applied to the decentralized control of power system. The concept of vector relative order for MIMO nonlinear DAE subsystem is put forward. If the vector relative order exists, then the subsystem can be transformed equivalently by a diffeomorphism and a...
For a team of unmanned aerial vehicles (UAVs) in the leader-follower type, the dynamic relative position relationships between followers and the leader are described with elastic distance vector. The desired geometric shape in formation change and maintenance is constructed via the elastic coefficient matrix of distance in the three dimensional space. In the second-order kinematics model, follower...
We proposed a decentralized formation control method and a path planning for a mobile robotic network to avoid an obstacle in an environment without the possibility of collision between the teammates. We applied the leader-follower pattern where the leader estimates the safest path to maintain the minimum allowable distance with the obstacle while avoiding it. The mathematical analysis shows the robust...
This paper presents a decentralized adaptive super-twisting control method for modular and reconfigurable robots (MRRs) with uncertain environment contact. Unlike conventional methods that rely on robot-environment contact model or force/torque sensing, this paper addresses the problem of controlling MRRs in contact with uncertain environment that using only local dynamic information of each joint...
This paper presents a decentralized optimal control method for modular and reconfigurable robots (MRRs) based on adaptive dynamic programming. First, the dynamic model of MRRs is formulated by using the Newton-Euler iterative algorithm, and then the state space description is given. Second, the optimal control policy of the MRRs system is obtained based on the policy iteration algorithm, which is...
This paper addresses consensus tracking problem for multi-agent linear systems subject to exogenous disturbances generated from heterogeneous exosystems. Firstly, by using the dynamic gain technique, a nonlinear disturbance observer is presented to estimate the disturbances generated from heterogeneous nonlinear exosystems. Secondly, with the help of this nonlinear disturbance observer, a distributed...
This paper proposed a decentralized random algorithm for a group of robots to search targets in 3D areas through a grid without collisions. Both the area and obstacles are unknown a priori. Considering the search for MH370 with Wi-Fi communication, the cube grid pattern is chosen to ensure that the least vertices are used. Robots start from a corner of the grid and move straightly between neighbor...
This paper first investigates the challenging graph theoretic problem of constructing universally rigid tensegrity frameworks given any generic configuration. We design a numerical algorithm to construct a universally rigid tensegrity framework, such that the resulted eigenvalues of the stress matrix of the tensegrity framework can be selected beforehand. As one application, we then consider the formation...
This paper investigates the distributed attitude synchronization and tracking problem for a group of flexible spacecraft in the presence of external disturbances. The spacecraft formation is studied in an undirected leader-following architecture and the time-varying reference attitude is represented by a dynamic virtual leader. Applying the adaptive sliding mode mechanism, a distributed modified Rodriguez...
This paper is concerned with the distributed control for robust output regulation of multi-agent systems(MASs) with adaptive event-triggered mechanism. A novel distributed adaptive control law based on output feedback is developed, which can avoid using the minimal nonzero eigenvalue of Laplacian matrix associated with global system topology and reduce the frequency of data transmission. It is shown...
This paper investigates the average consensus control problem of a group of nonlinear uncertain systems. A novel distributed observer is presented to estimate the initial average state of the multiple nonlinear systems. A feedback controller is then constructed for each system to track the state of the observer, where the sliding-mode technology and the Lyapunov method are employed to address the...
This paper presents an intelligent game based decision-making algorithm (IGD) for a fleet of mobile robots to maximize the probability of detection in a limited area. The agents have the minimum communication or even no communication result from a jamming attack by a given hostile. Thus, we proved that the proposed diagonal initial formation results in optimal barrier coverage. Based on our decentralized...
This paper considers the distributed event-triggered consensus problem for linear multi-agent systems. Distributed event-based protocols, consisting of the event-based control laws and the triggering functions, are designed, under which the consensus error is asymptotically stable and the Zeno behavior can be excluded. Compared to the previous related works, our main contribution is that we propose...
This paper designed a finite-time configuration control law that can weaken chattering under the directed communication topology. The leader information is available to only a portion of the followers and the existence of generalized disturbance in the dynamics model is considered. By defining the error function of relative configuration and selecting the appropriate variables of the finite-time high-order...
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...
We study the consensus problems for double integrators in this paper. Different from the existing works, the position and the velocity interactions among the agents are modeled by different graphs. We consider two different velocity interactions, namely, the balanced graph and a general directed graph. We propose fully distributed consensus algorithms with absolute velocity damping when position topology...
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