Some recent results on distributed control of nonlinear systems

Tengfei Liu, Zhong Ping Jiang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationNonlinear Systems - Techniques for Dynamical Analysis and Control
EditorsNathan van de Wouw, Erjen Lefeber, Ines Lopez Arteaga
PublisherSpringer Verlag
Pages21-50
Number of pages30
ISBN (Print)9783319303567
DOIs
StatePublished - 2017
EventInternational workshop on Nonlinear Systems in honor of Henk Nijmeijer’s 60th birthday, 2016 - Eindhoven, Netherlands
Duration: Jan 21 2016Jan 21 2016

Publication series

NameLecture Notes in Control and Information Sciences
Volume470
ISSN (Print)0170-8643

Other

OtherInternational workshop on Nonlinear Systems in honor of Henk Nijmeijer’s 60th birthday, 2016
CountryNetherlands
CityEindhoven
Period1/21/161/21/16

ASJC Scopus subject areas

  • Library and Information Sciences

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