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The design of a novel adaptive finite-time stable control system for high-order systems with parameter uncertainties is presented. Specified dynamics with recursive structure is employed as the finite-time convergent target system, thus leading to a systematic design process for systems with arbitrary order. Estimators for unknown parameters are constructed using immersion and invariance (I&I)...
The stabilization with a General Dissipativity Constraint (GDC) has been governed by the non-negativeness of ΔV(x, k) along the trajectories (i.e. ΔV(x, k) 0), in which ΔV(x, k) 0 is a storage function. We have stated and proved the state convergence with the GDC a previous work, but the stability has not been addressed thoroughly. In this paper, we analyze the stability that is obtained from...
This paper studies the consensus problem in second-order multi-agent systems. For the first time, an event-triggered impulsive consensus control scheme is proposed to solve this problem. Under the event-triggered impulsive consensus control scheme, a distributed event-condition is defined in advance for each agent and the impulsive control is taken only when such condition satisfies, and no any actions...
For two-qubit systems with a degenerate measurement operator, this paper presents a control approach to achieve rapid stabilization to a target Bell state. This approach uses two control channels where the control laws associated with these two channels are designed as a constant and a switching control law, respectively. In the control scheme, the system state space is divided into two parts: the...
In this paper, we address the finite-time tracking consensus control problem for nonlinear multi-agent systems under no-cycle communication graph. Unlike most existing works of finite-time consensus, we focus on nonlinear multi-agent systems with lower triangular subsystems. Based on the local cooperative information among neighboring agents, we propose a tracking consensus protocol ensuring that...
This work investigates the adaptive finite-time tracking problem for a class of strict-feedback nonlinear systems with parametric uncertainties and symmetric constant output constraint. A tan-type Barrier Lyapunov Function (BLF) is proposed to ensure the boundedness of the output tracking error, and a new tuning function is given to eliminate the effect of uncertainties. It is theoretically shown...
Adaptive iterative learning control is a popular approach to control parametric time-varying systems over finite time interval. However, initial resetting condition limits the application of a large amount of learning control algorithms. In this paper, we propose a suboptimal iterative learning control for a class of dynamic parametric systems to solve this problem. An error-tracking control strategy...
Finite-time consensus of heterogeneous multi-agent system (MAS) with external disturbances is investigated in this paper. Distributed control algorithm is designed for the agents described by leaderless MAS. It can be shown that the state errors of any two agents reach a region in finite time with external disturbances by using Lyapunov stability analysis and algebraic graph theory. At last, one example...
A method of stability analysis of nonlinear systems using Lyapunov densities has been proposed by Rantzer: almost all trajectories of the system are guaranteed to converge to the equilibrium point if a Lyapunov density exists for the nonlinear system. However, only the convergence of trajectories is considered in the Rantzer's original result and the speed of convergence has never been taken care...
This paper studies the consensus problem of a first-order multi-agent system by using event-based strategy. For each agent, both of the control law and the triggering function utilize estimated combinational measurement, which is calculated based on the combinational measurement that sampled at the agent's event instant. The distributed triggering function is developed to compute these instants. Only...
This paper proposes an “out-in degree” Laplacian matrix to dispose the distributed optimization problem for both the continuous-time and discrete-time multiagent systems with the first-order dynamics over a general strongly connected digraph. By making use of the out-degree and in-degree Laplacian matrices of the directed graph, we establish the parameter matrix which possesses some properties similar...
In this paper two control approaches are proposed to solve the tracking problem of a differentially driven wheeled mobile robot. Both are based on a kinematic model that describes the posture with four states. One approach is based on the Takagi-Sugeno fuzzy model where a parallel distributed compensation control is used. The alternative approach is to use Lyapunov stability analysis to construct...
For a class of nonlinear continuous systems, this paper proposes a sliding mode control with unidirectional auxiliary surfaces (UAS-SMC) based on a double power reaching law and a disturbance observer (DO). Firstly, according to the nonlinear continuous systems, the switching surfaces and the controller based on the proposed law and DO are designed to weaken the chattering phenomenon caused by disturbance...
This paper presents a novel approach for designing a composite controller that finite time simultaneously stabilizes two single input nonlinear Port-Controlled Hamiltonian (PCH) systems under disturbances. Firstly, using a single output feedback, two PCH systems are combined to generate an augmented PCH system based on the Hamiltonian structure properties. Then, a finite time disturbance observer...
This paper considers a central estimator design problem for stationary targets or moving targets based on weights assignment by a group of agents. A general form of estimator is first proposed. We then introduce the definitions of the converging central estimator. Then the central estimator is constructed by a new information assignment function and the information feedback function. Furthermore,...
This paper investigates the problem of attitude stabilization for a rigid body subject to external disturbance with unknown bound. A fixed-time based finite time controller is proposed to guarantee that the closed-loop system gets stable in fixed time, which means the bound of the settling time is independent of the initial conditions. Moreover, the adaptive method is adopted to deal with the external...
In this paper, we probe into the influence of network structure on the convergence rate of agents in multi-agent systems, especially for the position and number of nodes of network on it. We discover some results of which kinds of networks are conductive to the faster convergence rate of agents in multi-agent systems. Firstly, if there is no ring in different networks where the number of nodes are...
In the present paper, we study the orientation control of tree-shaped strings network by the approach feedforward control. First, we design a new controller through the dynamics condition of objective network to stabilize the boundary node a2, a3, as and have no effect the other part of network. Furthermore, the convergence of network system continue to be discussed under some control strategy when...
In this paper, a fully distributed strategy is proposed to solve the N-coalition multi-agent games. The agents in the considered N-coalition multi-agent games are supposed to have limited access to the other players' actions. Consensus protocols, including a leader-following consensus protocol and a dynamic average consensus protocol, are leveraged to search for the Nash equilibrium of the N-coalition...
Single-integrator models have been widely used to model robot kinematics in multi-robot coordination control problems. However, it is also widely believed that this model is too simple to lead to practically useful control laws. In this paper, we prove that if a gradient-descent distributed control law designed for single integrators has been proved to be convergent for a given coordination task,...
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