TY - GEN
T1 - Some recent results on distributed control of nonlinear systems
AU - Liu, Tengfei
AU - Jiang, Zhong Ping
N1 - Funding Information:
This work has been supported partly by the National Science Foundations under grants ECCS-1230040 and ECCS-1501044, and partly by NSFC grants 61374042, 61522305, and 61533007.
Publisher Copyright:
© Springer International Publishing Switzerland 2017.
PY - 2017
Y1 - 2017
N2 - The spatially distributed structure of complex systems motivates the idea of distributed control. In a distributed control system, the subsystems are controlled by local controllers through information exchange with neighboring agents for coordination purposes. One of the major difficulties of distributed control is due to the complex characteristics such as nonlinearity, dimensionality, uncertainty, and information constraints. This chapter introduces small-gain methods for distributed control of nonlinear systems. In particular, a cyclic-small-gain result in digraphs is presented as an extension of the standard nonlinear small-gain theorem. It is shown that the new result is extremely useful for distributed control of nonlinear systems. Specifically, this chapter first gives a cyclic-small-gain design for distributed outputfeedback control of nonlinear systems. Then, an application to formation control problem of nonholonomic mobile robots with a fixed information exchange topology is presented.
AB - The spatially distributed structure of complex systems motivates the idea of distributed control. In a distributed control system, the subsystems are controlled by local controllers through information exchange with neighboring agents for coordination purposes. One of the major difficulties of distributed control is due to the complex characteristics such as nonlinearity, dimensionality, uncertainty, and information constraints. This chapter introduces small-gain methods for distributed control of nonlinear systems. In particular, a cyclic-small-gain result in digraphs is presented as an extension of the standard nonlinear small-gain theorem. It is shown that the new result is extremely useful for distributed control of nonlinear systems. Specifically, this chapter first gives a cyclic-small-gain design for distributed outputfeedback control of nonlinear systems. Then, an application to formation control problem of nonholonomic mobile robots with a fixed information exchange topology is presented.
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U2 - 10.1007/978-3-319-30357-4_2
DO - 10.1007/978-3-319-30357-4_2
M3 - Conference contribution
AN - SCOPUS:84978477052
SN - 9783319303567
T3 - Lecture Notes in Control and Information Sciences
SP - 21
EP - 50
BT - Nonlinear Systems - Techniques for Dynamical Analysis and Control
A2 - van de Wouw, Nathan
A2 - Lefeber, Erjen
A2 - Arteaga, Ines Lopez
PB - Springer Verlag
T2 - International workshop on Nonlinear Systems in honor of Henk Nijmeijer’s 60th birthday, 2016
Y2 - 21 January 2016 through 21 January 2016
ER -