Observer-based consensus for second-order multi-agent systems with arbitrary asynchronous and aperiodic sampling periods

Ménard, Tomas; Moulay, Emmanuel; Coirault, Patrick; Defoort, Michaël

doi:10.1016/j.automatica.2018.10.045

Cited by 28 publications

(22 citation statements)

References 26 publications

(23 reference statements)

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“…It should be noted that due to the presence of the offset f i , the controller 7is different from the one given in [20]. Therefore, it makes the proof of the closed-loop stability which combines the continuous-discrete time observer and the formation tracking controller relatively complicated.…”

Section: B Output-feedback Formation Tracking Controllermentioning

confidence: 99%

“…red such that λθ > 1, then the time-varying formation tracking problem is solved in the sense of Definition 1 using the output-feedback controller (5)- (7). Proof: Let us provide a sketch of proof for Theorem 1 inspired from [20]. The agent dynamics can be re-written as…”

Section: B Output-feedback Formation Tracking Controllermentioning

confidence: 99%

“…In the current paper, the objective is not to design an appropriate triggering function such that the formation tracking problem is achieved, but to design an outputfeedback formation tracking controller. Motivated by [20] where the consensus problem for second-order MAS with arbitrary asynchronous and aperiodic sampling periods has been investigated, an observer-based algorithm has been proposed to solve the distributed formation tracking problem of second-order MAS. Compared to the existing works, the contributions are as follows.…”

Section: Introductionmentioning

confidence: 99%

“…Secondly, a novel output-feedback controller is proposed. Indeed, it is clear that the results in [20] cannot be directly applied due to the presence of the position and velocity offsets from the desired time-varying geometric shape in the tracking errors. Lastly, a new stability proof of the closed-loop system which combines the continuousdiscrete time observer and the formation tracking controller is derived.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Output-feedback formation tracking of second-order multi-agent systems with asynchronous variable sampled data

Ajwad

Moulay

Defoort

et al. 2019

2019 IEEE 58th Conference on Decision and Control (CDC)

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This paper deals with the problem of time-varying formation tracking for second-order multi-agent systems under directed topology, where the follower states form a desired formation while tracking the state of the leader. It is considered that each agent, including the leader, has second-order dynamics and can only transmit its position to its neighbors. The velocities and inputs are not exchanged between neighboring agents. In this work, it should be mentioned that contrary to many existing schemes, asynchronous and aperiodic sampling is considered. For each agent, an observer is proposed to estimate its state and the state of its neighbors from the available local asynchronous and aperiodic sampled position data. Using these estimates, a time-varying formation tracking protocol is developed. The stability of the closed-loop system which combines the continuous-discrete time observer and the formation tracking controller is analysed using an appropriate Lyapunov function. The effectiveness of the proposed outputfeedback controller is illustrated for various formations through simulation results. Index Terms-Formation tracking, directed topology, timevarying formation, sampled-data control, asynchronous sampling, continuous-discrete time observer.

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Section: B Output-feedback Formation Tracking Controllermentioning

confidence: 99%

Section: B Output-feedback Formation Tracking Controllermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Output-feedback formation tracking of second-order multi-agent systems with asynchronous variable sampled data

Ajwad

Moulay

Defoort

et al. 2019

2019 IEEE 58th Conference on Decision and Control (CDC)

Self Cite

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“…This can be obtained by using continuous-discrete time observer [15]. In [16] and [17] such observer has been used to design leaderless and leader-following control protocols respectively. However, in these articles, it is considered that the communication topology among the agents remains constant.…”

Section: Introductionmentioning

confidence: 99%

Leader-Following Consensus of Second-Order Multi-Agent Systems With Switching Topology and Partial Aperiodic Sampled Data

Ajwad

Moulay²,

Defoort³

et al. 2021

IEEE Control Syst. Lett.

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This article focuses on the problem of leaderfollowing consensus of second-order Multi-Agent Systems (MAS) with switching topology and partial aperiodic sampled data. MAS are subject to various constraints related to information exchange among the agents. It is considered that each agent in the network is able to measure its position only and cannot measure either its velocity or acceleration (input). Moreover, the position information is sent to the neighbors at aperiodic and asynchronous sampling rates. At last, a switching communication topology among the agents is considered. An observer-based control protocol is proposed to achieve leader-following consensus for MAS with above mentioned constraints. Using an Average Dwell Time (ADT) approach, sufficient conditions are derived through Lyapunov-based stability analysis to ensure the leader-following consensus. Numerical examples are also included to show the effectiveness of the proposed scheme.

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Distributed aperiodic sampled‐data implement for dual objective control of energy storage systems

Su,

Liu,

Cai

et al. 2023

Intl J Robust & Nonlinear

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This article solves the dual objective control problem for an energy storage system by distributed aperiodic sampled‐data controller under both connected static network and jointly‐connected switching network. The proposed sample‐and‐hold controller is composed of the leaderless consensus algorithm, which aims at state‐of‐energy balancing, and the leader‐following distributed observer, which aims at reference power tracking. By resorting to the generalized Krasovskii‐LaSalle theorem, it is proven that the closed‐loop system is uniformly exponentially stable using the so‐called limiting solution. There are two distinguished features of the proposed control scheme. First, the designs of the leaderless consensus algorithm and the leader‐following distributed observer can be accomplished independently. Second, the effectiveness of the control law can be guaranteed by properly tuning the feedback gains even for some extreme cases of drastic changes on sensing and sampling. Comprehensive simulation results are shown to examine the performance of the proposed control implement.

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Observer-based consensus for second-order multi-agent systems with arbitrary asynchronous and aperiodic sampling periods

Cited by 28 publications

References 26 publications

Output-feedback formation tracking of second-order multi-agent systems with asynchronous variable sampled data

Output-feedback formation tracking of second-order multi-agent systems with asynchronous variable sampled data

Leader-Following Consensus of Second-Order Multi-Agent Systems With Switching Topology and Partial Aperiodic Sampled Data

Distributed aperiodic sampled‐data implement for dual objective control of energy storage systems

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