Observer based leader-following consensus of second-order multi-agent systems with nonuniform sampled position data

Ajwad, Syed Ali; Ménard, Tomas; Moulay, Emmanuel; Defoort, Michaël; Coirault, Patrick

doi:10.1016/j.jfranklin.2019.09.025

Cited by 25 publications

(24 citation statements)

References 37 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…where λ is the controller tuning parameter. One should note that as compared to the control input proposed in [17], a…”

Section: Resultsmentioning

confidence: 99%

“…Taking the derivative of the above Lyapunov functions and applying Lemma 1, the following inequality is achieved if conditions (12)- (14) and Assumption 1 are satisfied (please see [17] for more details)…”

Section: Resultsmentioning

confidence: 99%

“…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%

“…The communication among the agents is directed. It must be noted that as compared to [17], where only fixed communication topology is considered, we assume that the interaction topology among the agents does not remain constant and changes with time. Due to the switching topology, the stability analysis becomes more complex.…”

Section: Introductionmentioning

confidence: 99%

“…Due to the switching topology, the stability analysis becomes more complex. It should be noted that the results of [17] cannot be directly applied for the case of switching topology since switching topology can make the overall system unstable. In this paper, using an Average Dwell Time (ADT) approach, sufficient conditions are derived through Lyapunov-based stability analysis to ensure the leaderfollowing consensus.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

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.

Self Cite

View full text Add to dashboard Cite

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.

show abstract

“…where λ is the controller tuning parameter. One should note that as compared to the control input proposed in [17], a…”

Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

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.

Self Cite

View full text Add to dashboard Cite

show abstract

Fault tolerant observer design for a class of nonlinear systems with corrupted outputs

Guerra,

de Oliveira,

Berdjag

et al. 2024

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

This paper presents new sufficient conditions for state and fault estimation of nonlinear systems. A new approach is proposed to deal with unmeasured premise variables and corrupted outputs. The adopted observer strategy consists of a scheduled gain that depends only on the estimated outputs provided by the observer. The design of such scheduled gain follows from a technical rewriting of the state error and uses the Lyapunov framework to derive sufficient conditions written as linear matrix inequalities. Such conditions are less conservative than existing approaches that deal with unmeasured premise variables. The effectiveness of the developed approach is assessed through a numerical single‐link robotic arm and on a real car‐based experimental setup available at the laboratory.

show abstract

Distributed time-varying formation tracking of multi-quadrotor systems with partial aperiodic sampled data

et al. 2022

Self Cite

View full text Add to dashboard Cite

In this article, a distributed formation tracking controller is proposed for Multi-Agent Systems (MAS) consisting of quadrotors. It is considered that each quadrotor in the MAS only shares its translation position information with its neighbors. Moreover, position information is transmitted at nonuniform and asynchronous time instants. The control system is divided into an outer-loop for the position control and an inner-loop for the attitude control. A continuous-discrete time observer is used in the outer-loop to estimate both position and velocity of the the quadrotor and its neighbors using discrete position information it receives. Then, these estimated states are used to design the position controller in order to enable quadrotors to generate the required geometric shape. A finite-time attitude controller is designed to track the desired attitude as dictated by the position controller. Finally, a closed-

show abstract

Observer based leader-following consensus of second-order multi-agent systems with nonuniform sampled position data

Cited by 25 publications

References 37 publications

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

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

Fault tolerant observer design for a class of nonlinear systems with corrupted outputs

Distributed time-varying formation tracking of multi-quadrotor systems with partial aperiodic sampled data

Contact Info

Product

Resources

About