TY - GEN
T1 - Distributed control of nonlinear multi-agents in the strict-feedback form
T2 - 34th Chinese Control Conference, CCC 2015
AU - Liu, Tengfei
AU - Jiang, Zhong Ping
N1 - Publisher Copyright:
© 2015 Technical Committee on Control Theory, Chinese Association of Automation.
PY - 2015/9/11
Y1 - 2015/9/11
N2 - This paper presents a cyclic-small-gain approach to distributed control of nonlinear multi-agent systems in the strict-feedback form for output agreement. Through a novel nonlinear control law design, the output agreement problem is transformed into a stabilization problem, and the closed-loop multi-agent system is transformed into a large-scale system composed of input-to-output stable (IOS) subsystems which are interconnected with each other through redefined outputs. The cyclic-small-gain theorem is employed as a fundamental tool to guarantee the IOS of the closed-loop large-scale system and the practical outputagreement of the multi-agent system. Moreover, if the system is disturbance-free, then accurate output-agreement is achievable. Interestingly, the closed-loop multi-agent system is also robust with respect to bounded time-delays in information exchange.
AB - This paper presents a cyclic-small-gain approach to distributed control of nonlinear multi-agent systems in the strict-feedback form for output agreement. Through a novel nonlinear control law design, the output agreement problem is transformed into a stabilization problem, and the closed-loop multi-agent system is transformed into a large-scale system composed of input-to-output stable (IOS) subsystems which are interconnected with each other through redefined outputs. The cyclic-small-gain theorem is employed as a fundamental tool to guarantee the IOS of the closed-loop large-scale system and the practical outputagreement of the multi-agent system. Moreover, if the system is disturbance-free, then accurate output-agreement is achievable. Interestingly, the closed-loop multi-agent system is also robust with respect to bounded time-delays in information exchange.
KW - Distributed control
KW - input-to-output stability
KW - input-to-state stability
KW - nonlinear uncertain systems
KW - small-gain theorem
UR - http://www.scopus.com/inward/record.url?scp=84946574501&partnerID=8YFLogxK
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U2 - 10.1109/ChiCC.2015.7260825
DO - 10.1109/ChiCC.2015.7260825
M3 - Conference contribution
AN - SCOPUS:84946574501
T3 - Chinese Control Conference, CCC
SP - 7481
EP - 7486
BT - Proceedings of the 34th Chinese Control Conference, CCC 2015
A2 - Zhao, Qianchuan
A2 - Liu, Shirong
PB - IEEE Computer Society
Y2 - 28 July 2015 through 30 July 2015
ER -