Bipartite tracking consensus of linear multi‐agent systems with a dynamic leader under signed digraph

Zhang, Xuxi; Han, Weihong; Liu, Xianping

doi:10.1049/iet-cta.2020.0353

Cited by 11 publications

(13 citation statements)

References 51 publications

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“…Motivated by the abovementioned review, this paper aims to find a new output to design a fully distributed static feedback, which solves the formation tracking problem of a group of 2nd-order (force-controlled) nonholonomic systems interconnected over cooperative-competitive network. To this end, this paper generalizes the preliminary results in [1,15,16,23], in which [1,23] present formation tracking controllers for nonholonomic systems by considering hand position output, and [15,16] provide partially distributed static bipartite tracking consensus controllers for general linear systems. The generalization is not trivial.…”

mentioning

confidence: 63%

“…This interaction principle leads to communication loop issue, making the practical implementation more difficult [10]. Dynamic feedback method is developed to avoid communication loop issue, that is, construct a distributed observer that generates an estimation of leader [11,12], a dynamic compensator [13,14] or an adaptive feedback gain [15,16] that compensates the influence of unknown leader. It is worth noting that the dynamic feedback yields additional inertial effects that commonly slow down the convergence time [17], and may increase the difficulty of algorithm implementation and unnecessary computation [18].…”

mentioning

confidence: 99%

“…It is worth noting that the dynamic feedback yields additional inertial effects that commonly slow down the convergence time [17], and may increase the difficulty of algorithm implementation and unnecessary computation [18]. Static non-smooth control laws are designed by employing Lyapunov mehtod and graph theory in [15,16], which however are partially distributed since the choice of controller parameters depends on spectral feature of network. Inspired by the aforementioned discussion, the formation tracking problem by means of fully distributed static feedback has not yet been fully explored for holonomic systems, let alone for nonholonomic systems.…”

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confidence: 99%

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A Distributed Static Time-varying Feedback for Formation Tracking Control of 2nd-order Nonholonomic Systems with Cooperative-Competitive Interactions

Xie

2022

Preprint

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Formation tracking task is generally achieved by designing dynamic controllers, which yield additional inertial effects and may increase the difficulty of algorithm implementation. This paper presents a new static feedback to solve the formation tracking control problem of 2nd-order nonholonomic systems with cooperative-competitive interactions. Firstly, a time-varying position output is constructed to obtain double-integrator dynamics. Compared with the traditional hand position output, the constructed output makes it possible to achieve both small control inputs and small ultimate bound, and hence renders the resulting feedback more beneficial to practical applications. Then, the feedback is designed as the proportional derivative type with a correcting term, which overcomes the difficulty of controlling higher relative-degree system, and removes the dependence of control coefficients on spectral feature of interaction network. Rather than using external variables, the static feedback involves the special correcting term to eliminate the residual error caused by dynamic leader who is unavailable to some systems. Global uniform ultimate boundedness of the closed-loop double-integrators is strictly proved by applying Lyapunov method, graph theory and cascaded system theory. After this, a technical lemma about nonlinear system is developed to clarify the convergence of orientation and angular velocity under some persistently exciting condition on leader. Finally, simulations for six 2nd-order nonholonomic systems are carried out to demonstrate the formation tracking performance of the proposed static feedback controller.

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confidence: 63%

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confidence: 99%

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confidence: 99%

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A Distributed Static Time-varying Feedback for Formation Tracking Control of 2nd-order Nonholonomic Systems with Cooperative-Competitive Interactions

Xie

2022

Preprint

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“… stable unstable According to the dynamic feedback linearization technology [39] that has adopted in distributed control of multi-agent systems with nonholonomic mobile robots [40,41], the dynamics of the system (1) can be linearized with the following matrices…”

Section: A Numerical Examplementioning

confidence: 99%

Stability Analysis of Multi-Agent Tracking Systems with Quasi-Cyclic Switching Topologies

2020

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In this paper, the stability problem of a class of multi-agent tracking systems with quasi-cyclic switching topologies is investigated. The existing results of systems with switching topologies are usually achieved based on the assumption that the piecewise constant communication topologies are connected and the switchings are cyclic. The communication topologies are possible to be unconnected and it is difficult to guarantee the topologies switch circularly. The piecewise unconnected topology makes the interactive multi-agent tracking system to be an unstable subsystem over this time interval. In order to relax the assumption constraint, a quasi-cyclic method is proposed, which allows the topologies of multi-agent systems to switch in a less conservative way. Moreover, the stability of the tracking system with the existence of unstable subsystems is analyzed based on switched control theory. It is obtained that the convergence rate is affected by the maximum dwell time of unstable subsystems. Finally, a numerical example is provided to demonstrate the effectiveness of the theoretical results.

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“…As a result, it may be challenging for all the motors to reach the reference speed at which they must converge. To address this, we adopt a multiagent approach that designates some motors as leaders (those that have access to the required reference speed) and the remainder of the motors as followers [9], [10]. In this leader-follower situation, not all the followers must be connected to the leader; rather, only one motor may be attached to the leader.…”

Section: Introductionmentioning

confidence: 99%

Leader–Follower-Based Self-Triggered Consensus Control of Industrial Induction Motor Drives

Ijaz

Noor-A-Rahim

Pesch

2022

IEEE Systems Journal

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Alternating current motors are critical to industry, as they drive many machines in the manufacturing and processing industries. To accomplish heavy tasks, often, a number of small motors must operate cooperatively, which means that the operation of the motors must be coordinated using, for example, consensus control. To accomplish this, the motors must communicate with each other. This communication can be periodic or event driven. As periodic communication may waste communication resources when no control update is needed, we propose a need-based selftriggered communication (STC) mechanism to achieve improved communication efficiency. We propose an STC technique for the leader-follower-based consensus control of induction motors. To study this method, we developed both centralized and distributed STC models. In the centralized approach, each motor is connected to a central unit that calculates the next communication time. When distributed STC is used, each motor calculates the next communication time solely based on information from directly connected neighboring motors, thus eliminating the possibility of a single point of failure. Extensive simulations were conducted to validate the proposed approaches. Our results show that the proposed self-triggered consensus control technique gets the same level of performance as a standard periodic control approach while utilizing fewer communication resources.

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Bipartite tracking consensus of linear multi‐agent systems with a dynamic leader under signed digraph

Cited by 11 publications

References 51 publications

A Distributed Static Time-varying Feedback for Formation Tracking Control of 2nd-order Nonholonomic Systems with Cooperative-Competitive Interactions

A Distributed Static Time-varying Feedback for Formation Tracking Control of 2nd-order Nonholonomic Systems with Cooperative-Competitive Interactions

Stability Analysis of Multi-Agent Tracking Systems with Quasi-Cyclic Switching Topologies

Leader–Follower-Based Self-Triggered Consensus Control of Industrial Induction Motor Drives

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