Robust consensus tracking of double-integrator dynamics by bounded distributed control

Zhu, Bin; Meng, Chang; Hu, Guoqiang

doi:10.1002/rnc.3361

Cited by 33 publications

(26 citation statements)

References 30 publications

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“…Here, this simplicity in parameter tuning for small steady‐state errors is retained by introducing the parameter mapping and the auxiliary parameter ε . As proven in Lemma , parameter ε for DE plays a similar role as parameter T for the DE designed in other works …”

Section: Design Of a Robust Distributed Controllermentioning

confidence: 80%

“…However, the distributed control issue for the MVS subject to input disturbance and simultaneously having no velocity measurements has not received enough attention. In most of the existing work on robust synchronization control of MVS, the velocities of each vehicle and its neighbors are assumed to be available . On the other hand, although some output (or partial state‐) feedback strategies for motion synchronization have been proposed as in other works, the robustness issue has not been systematically examined, and a modified design for robustness improvement is usually necessary for practical implementation.…”

Section: Introductionmentioning

confidence: 99%

“…In most of the existing work on robust synchronization control of MVS, the velocities of each vehicle and its neighbors are assumed to be available. [11][12][13][14][15] On the other hand, although some output (or partial state-) feedback strategies for motion synchronization have been proposed as in other works, [16][17][18][19][20][21][22] the robustness issue has not been systematically examined, and a modified design for robustness improvement is usually necessary for practical implementation. A representative example is the nominal controller used in this paper, which needs to be combined with a disturbance compensator to have a basic robustness against input disturbances (it is seen from the experimental results of Scenarios 1 and 2 in Section 4).…”

Section: Introductionmentioning

confidence: 99%

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Design and experimental evaluation of robust motion synchronization control for multivehicle system without velocity measurements

Zhu

Zhang

Liu

2018

Intl J Robust & Nonlinear

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Summary This paper investigates the robust motion synchronization problem of a class of multivehicle systems suffering from input disturbances but without velocity measurements. We first evaluate a velocity estimator–based scheme and show the performance limitation of the velocity estimator. We then develop a robust distributed control solution, which includes a passivity filter to inject damping into the system and to yield an output‐feedback stabilizer and a novel continuous disturbance estimator (DE) to achieve disturbance compensation. The solution has three attractive features: (i) both the DE and stabilizer are continuous and have the lowest orders; (ii) the DE can be designed in either the time domain or the frequency domain; (iii) by introducing an ingenious parameter mapping for the DE, it is easy to tune a single parameter to render the steady‐state synchronization and tracking errors sufficiently small. The solution is finally implemented on an experimental platform consisting of four desktop three‐degrees‐of‐freedom helicopters. The results of five control scenarios demonstrate that the platform suffers from severe input disturbances, and that different levels of control accuracy can easily be obtained by tuning the DE parameter.

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Section: Design Of a Robust Distributed Controllermentioning

confidence: 80%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design and experimental evaluation of robust motion synchronization control for multivehicle system without velocity measurements

Zhu

Zhang

Liu

2018

Intl J Robust & Nonlinear

Self Cite

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“…Lemma 3 implies that, under Assumption 1,p(t) andq(t) are uniformly ultimately bounded if e p (t) and e q (t) are, and in particular,p(t) → 0 n andq(t) → 0 n can be achieved by forcing e p (t) → 0 n and e q (t) → 0 n . Furthermore, under Assumption 1, the Equations (17) and (18) imply that…”

Section: Lemmamentioning

confidence: 99%

A distributed leader‐following tracking controller using delayed control input information from neighbors

Zhu

Chen

Wang

2019

Intl J Robust & Nonlinear

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Summary In this paper, we propose a simple, continuous, and distributed controller for the second‐order multiagent system to achieve leader‐following trajectory tracking, by exploiting the control input information of neighbors (CIIN) and using proportional‐derivative (PD) control in terms of local neighborhood synchronization error. A constant time delay is introduced in the CIIN as a design parameter to avoid the algebraic loop issue arising from the control input coupling. We develop an easily testable condition on the PD gains to ensure that the resulting neutral‐type error system is input‐to‐state stable for an arbitrary bounded delay, and prove that when the leader's acceleration is a Lipschitz continuous function with respect to time, the ultimate bound of tracking errors is strictly increasing with respect to the introduced time delay. Moreover, we analyze the robustness of the controller with respect to model uncertainties and show its potential advantages over two existing controllers in balancing the steady‐state tracking precision, the communication cost, and the continuity of controller signal. Finally, extensive simulations are conducted to show the effect of the delay on system stability, to verify the condition on PD gains, to confirm the robustness of the controller, and to demonstrate the detailed advantages.

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“…Thus, the performance holding of EHS under these uncertain nonlinearities is still a challenge problem in EHS control loop. By the way, the parametric uncertainty and noise disturbance also obviously exist in pneumatic system such as mechanical ventilation [8][9][10][11][12][13][14][15][16][17], network distributed control plant [18,19], multiple-input single-output processes [20].…”

Section: Introductionmentioning

confidence: 99%

Prescribed Performance Constraint Regulation of Electrohydraulic Control Based on Backstepping with Dynamic Surface

et al. 2018

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Abstract:In electro-hydraulic system (EHS), uncertain nonlinearities such as some hydraulic parametric uncertainties and external load disturbance often degrade the output dynamic performance. To address this problem, a prescribed performance constraint (PPC) control method is adopted in EHS to restrict the tracking position error of the cylinder position to a prescribed accuracy and guarantee the dynamic and steady position response in a required boundedness under these uncertain nonlinearities. Furthermore, a dynamic surface is designed to avoid the explosion of complexity due to the repeatedly calculated differentiations of the virtual control variables derived in backstepping. The effectiveness of the proposed controller has been verified by a comparative results.

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Robust consensus tracking of double-integrator dynamics by bounded distributed control

Cited by 33 publications

References 30 publications

Design and experimental evaluation of robust motion synchronization control for multivehicle system without velocity measurements

Design and experimental evaluation of robust motion synchronization control for multivehicle system without velocity measurements

A distributed leader‐following tracking controller using delayed control input information from neighbors

Prescribed Performance Constraint Regulation of Electrohydraulic Control Based on Backstepping with Dynamic Surface

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