Your browser does not support JavaScript!
http://iet.metastore.ingenta.com
1887

access icon free Cooperative output-synchronisation of networked high-order power integrators

© The Institution of Engineering and Technology
Received 19/01/2013, Accepted 15/09/2013, Revised 06/08/2013, Published

In this study, we have considered the cooperative output synchronisation problem of non-linear multi-agent system. The dynamic of each agent in the network is a class of genuinely non-linear system, named as high-order power integrator that may be uncontrollable after linearisation around the origin. Disturbance is considered in the input channel of each agent as well. Combined Graph theory with the method of adding a power integrator, a distributed controller is designed recursively for each agent to achieve the control objective. The distributed controller of each agent has three parts: state feedback of itself, output information of its neighbours and an adaptive disturbance compensator. It is proved that when the undirected graph is connected, all agents’ outputs in the network can be synchronised, that is, cooperative output synchronisation is achieved. Simulation result is presented to verify its effectiveness.

Inspec keywords: decentralised control; multi-agent systems; linearisation techniques; state feedback; networked control systems; distributed control; graph theory; control system synthesis; nonlinear control systems; compensation; synchronisation; adaptive control

Other keywords: networked high-order power integrators; cooperative output synchronisation problem; linearisation; nonlinear multiagent system; distributed controller design; output information; input channel disturbance; state feedback; undirected graph; combined graph theory; adaptive disturbance compensator

Subjects: Combinatorial mathematics; Multivariable control systems; Nonlinear control systems; Control system analysis and synthesis methods; Self-adjusting control systems

References

    1. 1)
      • 14. Peng, J., Zhou, W., Ye, X.: ‘Consensus control of networked nonlinear systems’. Proc. Intelligent Control and Automation, Beijing, 2012.
    2. 2)
      • 16. Peng, K., Yang, Y.: ‘Leader-following consensus problem with a varying-velocity leader and time-varying delays’, Phys. A: Stat. Mech. Appl., 2009, 388, (2), pp. 193–208 (doi: 10.1016/j.physa.2008.10.009).
    3. 3)
      • 18. Qu, Z.: ‘Cooperative control of networked nonlinear systems’. Proc. Decision and Control, Atlanta, 2010.
    4. 4)
      • 11. Zhai, G., Takeda, J., Imae, J., Kobayashi, T.: ‘Towards consensus in networked non-holonomic systems’, IET Control Theory Appl., 2010, 4, (10), pp. 2212–2218 (doi: 10.1049/iet-cta.2009.0658).
    5. 5)
      • 7. Hu, J., Lin, Y.: ‘Consensus control for multi-agent systems with double-integrator dynamics and time delays’, IET Control Theory Appl., 2010, 4, (1), pp. 109–118 (doi: 10.1049/iet-cta.2008.0479).
    6. 6)
      • 15. Li, T., Zhang, J.-F.: ‘Mean square average-consensus under measurement noises and fixed topologies: necessary and sufficient conditions’, Automatica, 2009, 45, (8), pp. 1929–1936 (doi: 10.1016/j.automatica.2009.04.017).
    7. 7)
      • 8. He, W., Cao, J.: ‘Consensus control for high-order multi-agent systems [brief paper]’, IET Control Theory Appl., 2011, 5, (1), pp. 231–238 (doi: 10.1049/iet-cta.2009.0191).
    8. 8)
      • 19. Zhang, H., Lewis, F., Qu, Z.: ‘Lyapunov, adaptive, and optimal design techniques for cooperative systems on directed communication graphs’, IEEE Trans. Autom. Control, 2012, 59, (7), pp. 3026–3041.
    9. 9)
      • 20. Utkin, V.: ‘Variable structure systems with sliding modes’, Autom. Control IEEE Trans., 1977, 22, (2), pp. 212–222 (doi: 10.1109/TAC.1977.1101446).
    10. 10)
      • 9. Cai, N., Xi, J.-X., Zhong, Y.-S.: ‘Brief paper swarm stability of high-order linear time-invariant swarm systems’, IET Control Theory Appl., 2011, 5, (2), pp. 402–408 (doi: 10.1049/iet-cta.2009.0589).
    11. 11)
      • 4. Ren, W.: ‘Multi-vehicle consensus with a time-varying reference state’, Syst. Control Lett., 2007, 56, (7–8), pp. 474–483 (doi: 10.1016/j.sysconle.2007.01.002).
    12. 12)
      • 13. Das, A., Lewis, F.: ‘Distributed adaptive control for synchronization of unknown nonlinear networked systems’, Automatica, 2010, 46, (12), pp. 2375–2381 (doi: 10.1016/j.automatica.2010.08.008).
    13. 13)
      • 6. Zheng, Y., Zhu, Y., Wang, L.: ‘Consensus of heterogeneous multi-agent systems’, IET Control Theory Appl., 2011, 5, (16), pp. 1881–1888 (doi: 10.1049/iet-cta.2011.0033).
    14. 14)
      • 12. Min, H., Sun, F., Wang, S., Li, H.: ‘Distributed adaptive consensus algorithm for networked euler-lagrange systems’, IET Control Theory Appl., 2011, 5, (1), pp. 145–154 (doi: 10.1049/iet-cta.2009.0607).
    15. 15)
      • 1. Murray, R.M.: ‘Recent research in cooperative control of multivehicle systems’, J. Dyn. Syst. Meas. Control, 2007, 129, (3), pp. 571–583 (doi: 10.1115/1.2766721).
    16. 16)
      • 17. Qian, C., Lin, W.: ‘A continuous feedback approach to global strong stabilization of nonlinear systems’, IEEE Trans. Autom. Control, 2001, 46, (7), pp. 1061–1080 (doi: 10.1109/9.935058).
    17. 17)
      • 3. Ren, W., Beard, R.: ‘Distributed consensus in multi-vehicle cooperative control: theory and applications’ (Springer, 2008).
    18. 18)
      • 2. Qu, Z.: ‘Cooperative control of dynamical systems: applications to autonomous vehicles’ (Springer, 2009).
    19. 19)
      • 21. Utkin, V.I.: ‘Sliding modes in control and optimization’ (Springer-Verlag, Berlin, 1992).
    20. 20)
      • 10. Li, Z., Duan, Z., Chen, G.: ‘Dynamic consensus of linear multi-agent systems’, IET Control Theory Appl., 2011, 5, (1), pp. 19–28 (doi: 10.1049/iet-cta.2009.0466).
    21. 21)
      • 5. Olfati-Saber, R., Murray, R.: ‘Consensus problems in networks of agents with switching topology and time-delays’, IEEE Trans. Autom. Control, 2004, 49, (9), pp. 1520–1533 (doi: 10.1109/TAC.2004.834113).
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-cta.2013.0062
Loading

Related content

content/journals/10.1049/iet-cta.2013.0062
pub_keyword,iet_inspecKeyword,pub_concept
6
6
Loading
Print this page
This is a required field
Please enter a valid email address