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This paper considers the problem where a group of agents must achieve a rigid formation specified by a subset of interagent distances. They must do so by being only able to sense the positions of their neighbors, agents with whom they share a specified desired distance, and knowing only their own velocities. The paper builds upon the work of [12] and [16]. The former assumes that the agents are modeled...
The purpose of this article is an analysis of periodic disturbance compensator parameters, which ensure a stability of compensation process. The stability of periodic disturbance compensation is given by dynamic feature of control system and spectral features of periodic disturbance. As a result of analysis is to set limits of stability fields at specific conditions of control system dynamic function...
We propose a strategy for constructing a large-scale network system that is stable independently of network expansion. The strategy is composed of two rules. One is on network nodes: every node has a passivity property that is realized by local feedback control. The other is on a network connection: network nodes are connected each other such that specific network structure is satisfied. We further...
This paper studies the closely related problems of target capturing and station keeping by an autonomous vehicle agent within the limitations of having access to the measurements of distance from the target only, where station keeping refers to moving the agent to a position having predefined distances from a network of sensory stations or other agents. These problems have been recently studied for...
Many iterative learning control algorithms rely on a model of the system. Although only approximate model knowledge is required, the model quality determines the convergence and performance properties of the learning control algorithm. The aim of this paper is to remove the need for a model for a class of multivariable ILC algorithms. The main idea is to replace the model by dedicated experiments...
In this paper, we investigate a decentralized formation control algorithm for an undirected formation control model. Unlike other formation control problems where only the shape of a configuration counts, we emphasize here also its Euclidean embedding. By following this decentralized formation control law, the agents will converge to certain equilibrium of the control system. In particular, we show...
In active noise control (ANC) system, the injection of white Gaussian noise (WGN) for online feedback path modeling and neutralization (FBPMN) degrades the noise-reduction-performance (NRP). In this paper: (1) a tuning free gain scheduling of WGN is used to improve the NRP of ANC system, and (2) a variable step-size is used to compensate for the decrease in the convergence of FBPMN filter due to gain...
The main result of this paper is a method for finding hidden convexity in some smooth nonconvex programmes. Specifically, the method is identifying an equivalent convex formulation of the underlying nonconvex programme. The main idea of our method is to view a constrained optimisation programme as a control system, where the dual variable plays a role of a control signal. Therefore the existence of...
This paper proposes a nonlinear programming (NLP) penalty-based strategy for solving the Volt/Var optimization (VVO) problem in distribution systems, formulated in a mixed integer nonlinear programming (MINLP) form. The VVO consists, basically, in determining the settings of the control variables of switched capacitor banks and on-load tap changer (OLTC) transformers located at substations to minimize...
This paper considers the problem of constructing a direct coupled quantum observer network for a single qubit quantum system. The proposed observer consists of a network of quantum harmonic oscillators and it is shown that the observer network output converges to a consensus in a time averaged sense in which each component of the observer estimates a specified output of the quantum plant.
This paper is concerned with the analysis of interconnected systems where positive subsystems are connected by a nonnegative interconnection matrix with communication delays. Recently, we have shown that, under mild assumptions on the positive subsystems and the interconnection matrix, the delay interconnected system has stable poles only except for a simple pole at the origin, and the output of the...
This paper introduces a novel approach to evaluation of modelling error of NARX control systems. The approach is based on difference inequalities and assumes availability of an approximate NARX model and the system order. Sufficient conditions for modelling error are derived ensuring boundedness of the error between model's and plant's outputs for the same inputs.
An algorithm for the numerical solution of an important algebraic matrix equation in control system design is developed. It is based on ideas arising from probability-1 homotopy methods, for the solution of algebraic systems of equations. The specialisation of this matrix equation into the algebraic Riccati matrix equation for continuous time systems is discussed. The proposed algorithm can be used...
This paper discusses the application of multirate signal processing techniques for the design of a system to cancel acoustic echoes in subbands. After a description of the computational complexity and the filterbank design, the need of delaying the microphone signal is explained. Aliasing caused by nonideal filterbanks and especially the noncausal subband impulse responses limit the quality of the...
A notion of relative structure at infinity and the concept of relative output rank with respect to a subsystem are introduced. We introduce the problem of relative decoupling, showing that this problem is solvable if and only if the relative output rank ρ(z) coincides with dimz. The Relative Dynamic Extension Algorithm (RDEA) is presented and a geometric interpretation is also given, showing that...
The paper addresses tracking of a piecewise constant reference for a nonlinear system subject to control and/or state constraints. The proposed controller, called dual-mode, extends to the nonlinear case an approach formerly introduced for linear systems. The dual-mode controller is based on the knowledge of the set of feasible state-setpoint pairs and operates in two different modes: as a regulator...
This paper considers problem of stabilization of the first order nonholonomic chained system using polar-like coordinates. A control method considered here can be regarded as an extension of control solution based on polar coordinate transformation in order to apply it to other system than unicycle. Presented control strategy gives possibility to obtain fast convergence of regulation errors without...
This paper formally analyses the benefits of cooperation in distributed MPC. The algorithm guarantees feasibility for dynamic subsystems coupled through the constraints, while cooperative behaviour is promoted by local agents considering the objectives of others. Under mild assumptions, state convergence is guaranteed to state limit sets. By relating game-theoretical concepts to the algorithm, it...
Future multi-agent systems will include embedded microprocessors with limited resources to gather information and actuate the individual agent controller updates. In this paper we examine the stability of such scheme in a cooperative control problem where the actuation updates are event-driven, depending on the ratio of a certain measurement error with respect to the norm of the state. In the centralized...
We consider systems in cascade form and redesign nested saturation control laws by introducing sliding mode to guarantee a finite time convergence and robustness. Unlike most previous results, this redesign can be applied to a large class of nonlinear systems.
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