Abstract
This paper studies the distributed nonlinear control of multi-agent systems with switching topologies for output agreement. A novel cyclic-small-gain approach is proposed. The crucial idea is to introduce a new dynamic mechanism to process the exchanged information between the agents, and to transform the distributed control problem into a stabilization problem for a dynamic network composed of input-to-output stable (IOS) subsystems. The desired distributed controller is designed based on IOS and cyclic-small-gain techniques. More interestingly, it is shown that the proposed method can be extended to distributed control design in the presence of disturbances.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 75-81 |
| Number of pages | 7 |
| Journal | Unmanned Systems |
| Volume | 4 |
| Issue number | 1 |
| DOIs | |
| State | Published - Jan 1 2016 |
Keywords
- Distributed control
- cyclic-small-gain method
- nonlinear systems
- output agreement
- switching topologies
ASJC Scopus subject areas
- Control and Systems Engineering
- Automotive Engineering
- Aerospace Engineering
- Control and Optimization