| 1. |
- Grip, H. F., et al.
(författare)
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Output synchronization for heterogeneous networks of non-introspective, non-right-invertible agents
- 2013
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Ingår i: Proceedings of the American Control Conference 2013. - : American Automatic Control Council. - 9781479901777 ; , s. 5791-5796
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Konferensbidrag (refereegranskat)abstract
- We consider the output synchronization problem for a heterogeneous network of linear agents. The agents are non-introspective, meaning that they do not have access to their own state or output; the only information available to each agent comes from the network, in the form of a linear combination of its output relative to that of neighboring agents. The basis for our study is a design previously presented by the authors, which was based on an additional assumption requiring the agents to be right-invertible. Here we dispense with the assumption of right-invertibility and instead introduce a new assumption based on solvability of a particular set of regulator equations.
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| 2. |
- Wang, X., et al.
(författare)
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Consensus in the network with uniform constant communication delay
- 2012
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Ingår i: Decision and Control (CDC), 2012 IEEE 51st Annual Conference on. - : IEEE. ; , s. 5318-5323
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Konferensbidrag (refereegranskat)abstract
- This paper studies the consensus among identical agents that are at most critically unstable and coupled through networks with uniform constant communication delay. An achievable upper bound of delay tolerance is obtained which explicitly depends on agent dynamics and network topology. The dependence on network topology disappears in the case of undirected networks. For any delay satisfying this upper bound, a controller design methodology without exact knowledge of the network topology is proposed so that the multi-agent consensus in a set of unknown networks can be achieved. Moreover, when the network topology is known, a larger delay tolerance is possible via a topology-dependent consensus controller. The results are illustrated by simulations.
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| 3. |
- Wang, X., et al.
(författare)
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Synchronization for heterogeneous networks of introspective right-invertible agents with uniform constant communication delay
- 2013
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Ingår i: 2013 IEEE 52nd Annual Conference on Decision and Control (CDC). - : IEEE conference proceedings. - 9781467357142 ; , s. 5198-5203
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Konferensbidrag (refereegranskat)abstract
- This paper studies output synchronization and regulation problem for heterogeneous networks of introspective right-invertible agents with uniform constant communication delay. A decentralized design based on shaping the agent dynamics using their self-knowledge and structural properties is developed. In the output synchronization problem, the proposed controller design tolerates arbitrary bounded communication delay and large network uncertainties. In the output regulation problem, it requires relative output measurement of the exosystem only in one agent. Moreover, the design method can also be applied to formation control problems.
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| 4. |
- Wang, X., et al.
(författare)
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Synchronization for homogeneous networks of non-introspective, non-right-invertible, discrete-time agents with uniform constant communication delay
- 2013
-
Ingår i: 2013 IEEE 52nd Annual Conference on Decision and Control (CDC). - : IEEE conference proceedings. - 9781467357142 ; , s. 7351-7357
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Konferensbidrag (refereegranskat)abstract
- This paper studies the synchronization problem for homogeneous networks of non-introspective, non-rightinvertible, discrete-time agents with unknown uniform constant communication delay. We solve the problem for a set of communication topologies via a decentralized low-gain based synchronization controller if the delay satisfies the proposed upper bound, which in general depends on the identical agent model and some characteristics of the communication topology.
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| 5. |
- Yang, Tao, et al.
(författare)
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Further results on saturated globally stabilizing linear state feedback control laws for single-input neutrally stable planar systems
- 2013
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Ingår i: 2013 European Control Conference, ECC 2013. - : IEEE. - 9783033039629 ; , s. 2728-2733
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Konferensbidrag (refereegranskat)abstract
- It is known that for single-input neutrally stable planar systems, there exists a class of saturated globally stabilizing linear state feedback control laws. The goal of this paper is to characterize the dynamic behavior for such a system under arbitrary locally stabilizing linear state feedback control laws. On the one hand, for the continuous-time case, we show that all locally stabilizing linear state feedback control laws are also globally stabilizing control laws. On the other hand, for the discrete-time case, we first show that this property does not hold by explicitly constructing nontrivial periodic solution for a particular system. We then show for an example that there exists more globally stabilizing linear state feedback control laws than well known ones in the literature.
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| 6. |
- Yang, Tao, et al.
(författare)
-
Output synchronization for heterogeneous networks of discrete-time introspective right-invertible agents with uniform constant communication delay
- 2013
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Ingår i: 2013 American Control Conference (ACC). - : American Automatic Control Council. - 9781479901777 ; , s. 516-521
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Konferensbidrag (refereegranskat)abstract
- In this paper, we consider synchronization problems for heterogeneous networks of introspective, right-invertible, discrete-time linear agents with uniform constant communication delay. We first design decentralized controllers for solving the output synchronization problem for a set of network topologies under arbitrary bounded delay. We then apply the proposed scheme to solve the formation problem with arbitrarily given formation vectors. Finally, we consider the output regulation problem, where the output of each agent has to track an a prior specified reference trajectory, generated by an exosystem. In this case, we assume that the common root agent has access to its own output relative to the reference trajectory. We then solve the problem for a set of network topologies with delay whose upper bound depends exosystem and some characteristic of network topologies.
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| 7. |
- Yang, Tao, et al.
(författare)
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Semi-global regulation of output synchronization for heterogeneous networks of non-introspective, invertible agents subject to actuator saturation
- 2012
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Ingår i: 2012 IEEE 51st Annual Conference on Decision and Control (CDC). - : IEEE. - 9781467320665 ; , s. 5298-5303
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Konferensbidrag (refereegranskat)abstract
- In this paper, we consider the semi-global regulation of output synchronization problem for heterogeneous networks of invertible linear agents subject to actuator saturation. That is, we regulate the output of each agent according to an a priori specified reference model. The network communication infrastructure provides each agent with a linear combination of its own output relative to that of neighboring agents, and it allows the agents to exchange information about their own internal observer estimates, while some agents have access to their own outputs relative to the reference trajectory.
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| 8. |
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| 9. |
- Wang, Xu, et al.
(författare)
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Consensus in the network with uniform constant communication delay
- 2013
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Ingår i: Automatica. - : Elsevier BV. - 0005-1098 .- 1873-2836. ; 49:8, s. 2461-2467
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Tidskriftsartikel (refereegranskat)abstract
- This paper studies consensus among identical agents that are at most critically unstable and coupled through networks with uniform constant communication delay. An upper bound for delay tolerance is obtained which explicitly depends on agent dynamics and network topology. The dependence on network topology disappears in the case of undirected networks. For any delay satisfying this upper bound, a controller design methodology without exact knowledge of the network topology is proposed so that multi-agent consensus in a set of unknown networks can be achieved. Moreover, when the network topology is known, a larger delay tolerance is possible via a topology-dependent consensus controller.
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| 10. |
- Wang, X., et al.
(författare)
-
Synchronization in a heterogeneous network of discrete-time introspective right-invertible agents
- 2013
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Ingår i: 2013 European Control Conference, ECC 2013. - : IEEE. - 9783033039629 ; , s. 4263-4268
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Konferensbidrag (refereegranskat)abstract
- This paper studies output synchronization problem for a heterogenous network of discrete-time introspective right-invertible agents. We propose a decentralized control scheme to solve the output synchronization problem for a set of communication topologies. Moreover, if the synchronization trajectories are assumed to be bounded, a universal controller can be constructed for all communication topologies which contain a directed spanning tree.
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