Distributed control of nonlinear uncertain systems: 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 output-agreement 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 publicationProceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2572-2577
Number of pages6
EditionMarch
ISBN (Electronic)9781479958252
DOIs
StatePublished - Mar 2 2015
Event2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 - Shenyang, China
Duration: Jun 29 2014Jul 4 2014

Publication series

NameProceedings of the World Congress on Intelligent Control and Automation (WCICA)
NumberMarch
Volume2015-March

Other

Other2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
CountryChina
CityShenyang
Period6/29/147/4/14

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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

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

Cite this

Liu, T., & Jiang, Z. P. (2015). Distributed control of nonlinear uncertain systems: A cyclic-small-gain approach. In Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014 (March ed., pp. 2572-2577). [7053130] (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 2015-March, No. March). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/WCICA.2014.7053130