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
PublisherIEEE Computer Society
Pages7481-7486
Number of pages6
Volume2015-September
ISBN (Print)9789881563897
DOIs
StatePublished - Sep 11 2015
Event34th Chinese Control Conference, CCC 2015 - Hangzhou, China
Duration: Jul 28 2015Jul 30 2015

Other

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

Fingerprint

Distributed Control
Multi agent systems
Feedback
Multi-agent Systems
Output
Closed-loop System
Large scale systems
Large-scale Systems
Small Gain Theorem
Time delay
Stabilization
Nonlinear Control
Form
Time Delay
Subsystem
Nonlinear Systems
Disturbance

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 Proceedings of the 34th Chinese Control Conference, CCC 2015 (Vol. 2015-September, pp. 7481-7486). [7260825] IEEE Computer Society. https://doi.org/10.1109/ChiCC.2015.7260825

Distributed control of nonlinear multi-agents in the strict-feedback form : A cyclic-small-gain approach. / Liu, Tengfei; Jiang, Zhong-Ping.

Proceedings of the 34th Chinese Control Conference, CCC 2015. Vol. 2015-September IEEE Computer Society, 2015. p. 7481-7486 7260825.

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

Liu, T & Jiang, Z-P 2015, Distributed control of nonlinear multi-agents in the strict-feedback form: A cyclic-small-gain approach. in Proceedings of the 34th Chinese Control Conference, CCC 2015. vol. 2015-September, 7260825, IEEE Computer Society, pp. 7481-7486, 34th Chinese Control Conference, CCC 2015, Hangzhou, China, 7/28/15. https://doi.org/10.1109/ChiCC.2015.7260825
Liu T, Jiang Z-P. Distributed control of nonlinear multi-agents in the strict-feedback form: A cyclic-small-gain approach. In Proceedings of the 34th Chinese Control Conference, CCC 2015. Vol. 2015-September. IEEE Computer Society. 2015. p. 7481-7486. 7260825 https://doi.org/10.1109/ChiCC.2015.7260825
Liu, Tengfei ; Jiang, Zhong-Ping. / Distributed control of nonlinear multi-agents in the strict-feedback form : A cyclic-small-gain approach. Proceedings of the 34th Chinese Control Conference, CCC 2015. Vol. 2015-September IEEE Computer Society, 2015. pp. 7481-7486
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