1,720,974 research outputs found
An optimal distributed PID-like control for the output containment and leader-following of heterogeneous high-order multi-agent systems
Full text linkThis paper addresses the leader-tracking and the containment control problems for heterogeneous high-order Multi-Agent Systems (MASs) sharing information through a directed communication topology. To solve both the control problems, a fully-distributed Proportional-Integral-Derivative (PID) control strategy is proposed, whose stability is analytically proven by exploiting the regulator equations and the Static Output Feedback (SOF) procedure adapted to the MASs framework. The application of SOF allows recasting the PID control design problem into a state-feedback control design one and, hence, finding the proper values of the proportional, integral and derivative actions via classical state-feedback approaches, such as the Linear-Quadratic-Regulator (LQR) strategy. Numerical simulations confirm the effectiveness of the proposed approach in guaranteeing that each follower tracks the leader behavior in the case of leader-tracking and that each follower converges to the convex hull spanned by the multiple leaders in the case of containment control
Exponential bipartite tracking consensus in cooperative-antagonistic nonlinear Multi-Agent Systems with multiple communication time-varying delays
No full textThis article deals with the bipartite tracking consensus problem for high-order nonlinear Multi Agent Systems (MASs) with cooperative–antagonistic agents interacting via a directed non-ideal
communication network. For a more realistic interaction scenario, a different time-varying delay is
associated to each communication link connecting a couple of agents, whose actual value is determined
by the current wireless channel condition. In this context, we propose a novel distributed delayed
bipartite tracking consensus control strategy which ensures the exponential stability of the whole
networked control system. The theoretical analysis, carried out via Lyapunov theory and Halanay’s
Lemma, provides the control gains tuning rule and an estimation of the maximum admissible delay
upper bound. Numerical simulations corroborate the theoretical derivations
Adaptive fault-tolerant containment control for heterogeneous uncertain nonlinear multi-agent systems under actuator faults
No full textAs modern control systems involve a growing number of actuators, the consequent number of faults occurrence, which may deteriorate the closed-loop system performance, is increasing. Focusing on the containment control problem of generic nonlinear high-order heterogeneous uncertain Multi-Agent Systems, this study proposes a novel distributed adaptive fault-tolerant Proportional–Integral–Derivative control protocol to improve the reliability and the resilience of the whole networked systems against actuator failures. The Lyapunov theory, combined with the Barbalat lemma, provides the design of suitable adaptive mechanisms that adjust the PID control actions to ensure the asymptotic convergence of the closed-loop containment errors for the overall network, hence implying the convergence of each agent state toward the convex region shaped by the multiple leaders, despite the occurrence of actuators faults. The fulfillment of the fault-tolerant containment objective is ensured by requiring a lower computational burden with respect to alternative solutions, hence resulting in more attractive for wider practical engineering applications. Numerical simulation results, also including a comparison analysis with a state-of-the-art controller, corroborate the efficiency and the advantages of the proposed distributed PID controller
Leader tracking control for heterogeneous uncertain nonlinear multi-agent systems via a distributed robust adaptive PID strategy
No full textThis paper addresses the leader tracking control problem for heterogeneous uncertain nonlinear multi-agent systems sharing information via a communication network, modeled as a directed graph. To solve the problem, we propose a novel distributed PID-like control strategy which, enhanced with a Lyapunov-based adaption mechanism for the control parameters, is able to counteract the uncertainties acting on the agents dynamics. The stability analysis analytically proves the effectiveness of the proposed PID protocol in ensuring the leader-tracking as well as the boundedness of the adaptive control gains. Numerical simulations, involving both the synchronization control problem for nonlinear harmonic oscillators and the practical engineering problem of the cooperative driving for autonomous connected vehicles, confirm the theoretical derivation and disclose the capability of the proposed strategy in achieving the control objective
Distributed model reference adaptive containment control of heterogeneous multi-agent systems with unknown uncertainties and directed topologies
No full textIn this paper, the containment control problem of heterogeneous uncertain high-order linear Multi-Agent Systems (MASs) is addressed and solved via a novel fully-Distributed Model Reference Adaptive Control (DMRAC) approach, where each follower computes its adaptive control action on the basis of local measurements, information shared with neighbors (within the communication range) and the matching errors w.r.t. its own reference model, without requiring any previous knowledge of the global directed communication topology structure. The approach inherits the robustness of the direct model reference adaptive control (MRAC) scheme and allows all agents converging towards the convex hull spanned by leaders while fulfilling at the same time local additional performance requirements at single-agent level, such as prescribed settling time, overshoot, etc. The asymptotic stability of the whole closed-loop network is analytically derived by exploiting the Lyapunov theory and the Barbalat lemma, hence proving that each follower converges to the convex hull spanned by the leaders, as well as the boundedness of the adaptive gains. Extensive numerical analysis for heterogeneous MAS composed of stable, unstable and oscillating agent dynamics are presented to validate the theoretical framework and to confirm the effectiveness of the proposed approach
Distributed leader-tracking adaptive control for high-order nonlinear Lipschitz multi-agent systems with multiple time-varying communication delays
No full textThis paper addresses the leader-tracking problem of high-order nonlinear Lipschitz agents sharing their state information through a delayed communication network. The multiple delays associated to each communication link are considered as time-varying functions. The problem is solved through a fully distributed adaptive protocol on the basis of a node-based local adaptation method that is independent of any global information and does not require any knowledge or estimation of the nonlinear agent dynamics. The stability of the closed-loop delayed Multi-Agent System (MAS) is proven to leverage the Lyapunov–Krasovskii approach combined with the Barbalat's Lemma. Stability conditions are expressed as a set of feasible Linear Matrix Inequalities (LMIs) derived via the free weighted matrices method. Exemplary numerical simulations confirm the effectiveness of the theoretical results
Distributed robust finite-time PID control for the leader-following consensus of uncertain multi-agent systems with communication delay
No full textIn this paper, the robust finite-time leader-following consensus problem for homogeneous uncertain linear Multi-Agent Systems (MASs) in the presence of time-varying communication delays is addressed and solved via a distributed time-delay PID-like control strategy. To analytically prove the robust finite-time stability of the resulting delayed neutral-type closed-loop MAS, we leverage both the descriptor transformation and the Lyapunov-Krasovskii theory. Delay-dependent finite-time stability conditions are expressed as a set of Linear Matrix Inequalities (LMIs), whose solutions allows obtaining both the weighted L2 gain and the state trajectories bound. Numerical results confirm the theoretical derivation and the effectiveness of the proposed approach in guaranteeing that each agent converges towards the leader reference behavior in a finite-time interval despite the presence of both time-varying delays and external disturbances
Distributed fixed-time leader-tracking control for heterogeneous uncertain autonomous connected vehicles platoons
Full text linkLongitudinal control for platoons of connected autonomous vehicles is a hot research topic in the Cooperative Intelligent Transport Systems (C-ITSs) domain. Most of the existing results solve the platooning problem asymptotically, without ensuring that the consensus could be achieved in a finite settling time. To this aim, in this work we address the problem of guaranteeing the leader-tracking for heterogeneous vehicles platoons in a fixed time despite the presence of external disturbances. To solve this problem, by exploiting the integral sliding mode (ISM) approach and the Lyapunov theory, we propose a distributed control strategy able to ensure the leader-tracking in a finite settling time which is independent from any vehicles initial conditions. The simulation analysis, carried out in two different driving scenarios, confirms the effectiveness of the theoretical derivation
Adaptive Distributed PI-like Control Protocol for the Virtual Coupling of Connected Heterogeneous Uncertain Nonlinear High-Speed Trains
No full textVirtual Coupling has been included among the most relevant innovations to be studied in the European Horizon 2020 Shift2Rail Joint Undertaking for increasing the railway lines capacity through the dynamic connection of two or more trains to form a convoy while preserving safety. Within this framework, this paper addresses the virtual coupling control problem for heterogeneous nonlinear uncertain connected high-speed trains. Leveraging the Multi-Agent Systems framework, a novel distributed robust and adaptive PI-like control scheme is proposed to solve the control problem. In order to provide suitable adaptive mechanisms for the control gains, we exploit the Lyapunov theory and Barbalat's lemma and prove the asymptotic stability for the overall networked control system, as well as the boundedness of these signals. The virtual coupling objective is achieved in a fully-distributed fashion by limiting the amount of time-varying information necessary for the computation of the control action and, hence, saving communication channel bandwidth while reducing the computational burden. Exemplary numerical simulations are given to support the theoretical derivations and to prove the effectiveness of the proposed control strategy in a real driving scenario
Cooperative Finite-time Control for autonomous vehicles platoons with nonuniform V2V communication delays
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