Distributed control of nonlinear multi-agents in the strict-feedback form: A cyclic-small-gain approach

Tengfei Liu, Zhong Ping Jiang

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

Abstract

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 outputagreement 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.

Original languageEnglish (US)
Title of host publicationProceedings of the 34th Chinese Control Conference, CCC 2015
EditorsQianchuan Zhao, Shirong Liu
PublisherIEEE Computer Society
Pages7481-7486
Number of pages6
ISBN (Electronic)9789881563897
DOIs
StatePublished - Sep 11 2015
Event34th Chinese Control Conference, CCC 2015 - Hangzhou, China
Duration: Jul 28 2015Jul 30 2015

Publication series

NameChinese Control Conference, CCC
Volume2015-September
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927

Other

Other34th Chinese Control Conference, CCC 2015
CountryChina
CityHangzhou
Period7/28/157/30/15

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Keywords

  • Distributed control
  • input-to-output stability
  • input-to-state stability
  • nonlinear uncertain systems
  • small-gain theorem

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Applied Mathematics
  • Modeling and Simulation

Cite this

Liu, T., & Jiang, Z. P. (2015). Distributed control of nonlinear multi-agents in the strict-feedback form: A cyclic-small-gain approach. In Q. Zhao, & S. Liu (Eds.), Proceedings of the 34th Chinese Control Conference, CCC 2015 (pp. 7481-7486). [7260825] (Chinese Control Conference, CCC; Vol. 2015-September). IEEE Computer Society. https://doi.org/10.1109/ChiCC.2015.7260825