TY - GEN
T1 - Distributed control of nonlinear uncertain systems
T2 - 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
AU - Liu, Tengfei
AU - Jiang, Zhong Ping
PY - 2015/3/2
Y1 - 2015/3/2
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 output-agreement 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 output-agreement 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=84932180391&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84932180391&partnerID=8YFLogxK
U2 - 10.1109/WCICA.2014.7053130
DO - 10.1109/WCICA.2014.7053130
M3 - Conference contribution
AN - SCOPUS:84932180391
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 2572
EP - 2577
BT - Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 29 June 2014 through 4 July 2014
ER -