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1.
Passivity‐based state synchronization of homogeneous multiagent systems via static protocol in the presence of input saturation
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This paper studies semiglobal and global state synchronization of homogeneous multiagent systems with partial‐state coupling (ie, agents are coupled through part of their states) via a static protocol. We consider 2 classes of agents, ie, G‐passive and G‐passifiable via input feedforward, which are subjected to input saturation. The proposed static protocol is purely decentralized, ie, without an additional channel for the exchange of controller states. For semiglobal synchronization, a static protocol is designed for an a priori given set of network graphs with a directed spanning tree. In other words, the static protocol only needs rough information on the network graph, ie, a lower bound for the real part and an upper bound for the modulus, of the nonzero eigenvalues of the corresponding Laplacian matrix. Whereas for global synchronization, only strongly connected and detailed balanced network graphs are considered. In this case, for G‐passive agents, the static protocol does not need any network information, whereas for G‐passifiable agents via input feedforward, the static protocol only needs an upper bound for the modulus of the eigenvalues of the corresponding Laplacian matrix. 相似文献
2.
This paper studies regulated state synchronization for continuous‐time homogeneous multiagent systems with weakly unstable agents where the reference trajectory is given by a so‐called exosystem. The agents share part of their state over a communication network. We assume that the communication topology is completely unknown and directed. An algebraic Riccati equation–based low‐gain adaptive nonlinear dynamic protocol design is presented to achieve the regulated state synchronizations. Utilizing the adaptive control, our nonlinear dynamic protocol is universal and does not depend on any information about the communication topology or the number of agents. 相似文献
3.
Synchronization in a network of identical continuous‐ or discrete‐time agents with unknown nonuniform constant input delay
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This paper studies the synchronization problem for multiagent systems with identical continuous‐ or discrete‐time agents with unknown nonuniform constant input delays. The agents are connected via full‐ or partial‐state coupling. The agents are assumed to be asymptotically null controllable, ie, all eigenvalues are in the closed left‐half complex plane for continuous‐time agents or in the closed unit disc for discrete‐time agents. We derive an upper bound for the input delay tolerance, which explicitly depends on the agent dynamics. Moreover, for any unknown delay satisfying this upper bound, a low‐gain–based protocol design methodology is proposed without relying on exact knowledge of the network topology such that synchronization is achieved among agents for any network graph in a given set. 相似文献
4.
5.
This paper studies H2 and H∞ almost output synchronization problems for heterogeneous continuous‐time multiagent systems with passive agents and strongly connected communication graph. For non‐introspective passive agents, a linear static protocol can be designed to achieve almost output synchronization with arbitrarily small H2 norm. Moreover, we show that the H∞ almost output synchronization problem via static protocol is not solvable for this class of systems. 相似文献
6.
In this paper, robust H∞ control of a class of discrete‐time uncertain systems in state‐space form with linear nominal parts and norm‐bounded nonlinear uncertainties in both state and output equations is discussed. Such systems have a unique characterisic; that is, the two norm‐bounded nonlinear uncertainties have the equivalent representation by means of time‐varying and norm‐bounded linear uncertainties. To overcome the conservativenss of [5], the two nonlinear uncertainty sets are considered to be different. Then, by converting such systems into related discrete‐time linear systems with time‐varying and norm‐bounded linear uncertainties, we obtain that a sufficient condition for robust H∞ control of such systems is equivalent to the solvability of the same problem of the related linear uncertain systems, which is solvable by means of a linear algebraic Riccati inequality. 相似文献
7.
This paper studies state synchronization of homogeneous multiagent systems (MAS) via a static protocol with partial‐state coupling in the presence of a time‐varying communication topology, which includes general time‐varying graphs as well as switching graphs. If the agents are squared‐down passive or squared‐down passifiable (via static output feedback or static input feedforward), then a static protocol can be designed for balanced, time‐varying graphs. Moreover, this static protocol works for arbitrary switching directed graphs if the agents are squared‐down minimum phase with relative degree one. The static protocol is designed for each agent such that state synchronization is achieved without requiring exact knowledge about the time‐varying network. 相似文献
8.
This paper studies state synchronization of homogeneous time‐varying networks with diffusive full‐state coupling or partial‐state coupling. In the case of full‐state coupling, linear agents as well as a class of nonlinear time‐varying agents are considered. In the case of partial‐state coupling, we only consider linear agents, but, in contrast with the literature, we do not require the agents in the network to be minimum phase or at most weakly unstable. In both cases, the network is time‐varying in the sense that the network graph switches within an infinite set of graphs with arbitrarily small dwell time. A purely decentralized linear static protocol is designed for agents in the network with full‐state coupling. For partial‐state coupling, a linear dynamic protocol is designed for agents in the network while using additional communication among controller variables using the same network. In both cases, the design is based on a high‐gain methodology. Copyright © 2017 John Wiley & Sons, Ltd. 相似文献
9.
In this paper, we consider the discrete‐time mixed ??2/??∞ filtering problem for affine nonlinear systems. Necessary and sufficient conditions for the solvability of this problem with a finite‐dimensional filter are given in terms of a pair of coupled discrete‐time Hamilton–Jacobi‐Isaac's equations (DHJIE) with some side‐conditions. For linear systems, it is shown that these conditions reduce to a pair of coupled discrete‐time algebraic‐Riccati‐equations (DAREs) or a system of linear matrix inequalities (LMIs) similar to the ones for the control case. Both the finite‐horizon and infinite‐horizon problems are discussed. Moreover, sufficient conditions for approximate solvability of the problem are also derived. These solutions are especially useful for computational purposes, considering the difficulty of solving the coupled DHJIEs. An example is also presented to demonstrate the approach. Copyright © 2010 John Wiley & Sons, Ltd. 相似文献
10.
Model‐Free H∞ Control Design for Unknown Continuous‐Time Linear System Using Adaptive Dynamic Programming
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In this paper, a new online model‐free adaptive dynamic programming algorithm is developed to solve the H∞ control problem of the continuous‐time linear system with completely unknown system dynamics. Solving the game algebraic Riccati equation, commonly used in H∞ state feedback control design, is often referred to as a two‐player differential game where one player tries to minimize the predefined performance index while the other tries to maximize it. Using data generated in real time along the system trajectories, this new method can solve online the game algebraic Riccati equation without requiring the full knowledge of system dynamics. A rigorous proof of convergence of the proposed algorithm is given. Finally, simulation studies on two examples demonstrate the effectiveness of the proposed method. 相似文献
11.
In this paper, the H∞ tracking control of linear discrete‐time systems is studied via reinforcement learning. By defining an improved value function, the tracking game algebraic Riccati equation with a discount factor is obtained, which is solved by iteration learning algorithms. In particular, Q‐learning based on value iteration is presented for H∞ tracking control, which does not require the system model information and the initial allowable control policy. In addition, to improve the practicability of algorithm, the convergence analysis of proposed algorithm with a discount factor is given. Finally, the feasibility of proposed algorithms is verified by simulation examples. 相似文献
12.
The design objective of a mixed H2/H∞ control is to find the H2 optimal tracking control law under a prescribed disturbance attenuation level. With the help of the technique of completing the squares, a further result of the mixed H2/H∞ optimal tracking control problem is presented, by combining it with standard LQ optimal control technique. In this paper, only a nonlinear time‐varying Riccati equation is required to solve the problem in the design procedure—instead of two coupled nonlinear time‐varying Riccati equations, or two coupled linear algebraic Riccati‐Iike equations—with some assumptions made regarding the weighting matrices in the existing results. A closed‐form controller for the mixed H2/H∞ robotic tracking problem is simply constructed with a matrix inequality check. Moreover, it shows that the existing results are the special cases of these results. Finally, detailed comparison is performed by numerical simulation of a two‐link robotic manipulator. © 2002 John Wiley & Sons, Inc. 相似文献
13.
A new class of reduced‐order controllers is obtained for the H∞ problem. The reduced‐order controller does not compromise the performance attained by the full‐order controller. Algorithms for deriving reduced‐order H∞ controllers are presented in both continuous and discrete time. The reduction in order is related to unstable transmission zeros of the subsystem from disturbance inputs to measurement outputs. In the case where the subsystem has no infinite zeros, the resulting order of the H∞ controller is lower than that of the existing reduced‐order H∞ controller designs which are based on reduced‐order observer design. Furthermore, the mechanism of the controller order reduction is analysed on the basis of the two‐Riccati equation approach. The structure of the reduced‐order H∞ controller is investigated. Copyright © 2002 John Wiley & Sons, Ltd. 相似文献
14.
On computing the stabilizing solution of a class of discrete‐time periodic Riccati equations
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This paper addresses the problem of solving a class of periodic discrete‐time Riccati equation with an indefinite sign of its quadratic term. Such an equation is closely related to the so‐called full‐information H ∞ control of discrete‐time periodic systems. A globally convergent iterative algorithm with a local quadratic convergence rate is proposed for this purpose. An application to the problem of H ∞ filtering of discrete‐time periodic systems is also developed and illustrated via a numerical example. Copyright © 2013 John Wiley & Sons, Ltd. 相似文献
15.
Amir Alizadeh Moghadam Ilyasse Aksikas Stevan Dubljevic J. Fraser Forbes 《International journal of control》2013,86(10):2156-2166
The linear quadratic control synthesis for a set of coupled first-order hyperbolic partial differential and algebraic equations is presented by using the infinite-dimensional Hilbert state-space representation of the system and the well-known operator Riccati equation (ORE) method. Solving the algebraic equations and substituting them into the partial differential equations (PDEs) results in a model consisting of a set of pure hyperbolic PDEs. The resulting PDE system involves a hyperbolic operator in which the velocity matrix is spatially varying, non-symmetric, and its eigenvalues are not necessarily negative through of the domain. The C0-semigroup generation property of such an operator is proven and it is shown that the generated C0-semigroup is exponentially stable and, consequently, the ORE has a unique and non-negative solution. Conversion of the ORE into a matrix Riccati differential equation allows the use of a numerical scheme to solve the control problem. 相似文献
16.
The continuous- and discrete-time H∞ control problems are solved via elementary manipulations on linear matrix inequalities (LMI). Two interesting new features emerge through this approach: solvability conditions valid for both regular and singular problems, and an LMI-based parametrization of all H∞-suboptimal controllers, including reduced-order controllers. The solvability conditions involve Riccati inequalities rather than the usual indefinite Riccati equations. Alternatively, these conditions can be expressed as a system of three LMIs. Efficient convex optimization techniques are available to solve this system. Moreover, its solutions parametrize the set of H∞ controllers and bear important connections with the controller order and the closed-loop Lyapunov functions. Thanks to such connections, the LMI-based characterization of H∞ controllers opens new perspectives for the refinement of H∞ design. Applications to cancellation-free design and controller order reduction are discussed and illustrated by examples. 相似文献
17.
Nikita E. Barabanov 《Systems & Control Letters》1998,35(1):2796
The problem of existence of static controller in standard H∞ control problem or, equivalently, solvability of a couple of Riccati inequalities with respect to the same Hermitian matrix is reduced to solvability of a single Riccati inequality. This inequality is presented in a form which is bilinear with respect to unknown parameters. In a special case the inequality is transformed to LMI. 相似文献
18.
This paper investigates a global stabilization problem and a nonlinear H∞ control problem for a class of nonminimum phase nonlinear multivariable systems. To avoid the complicated recursive design procedure, an asymptotic time‐scale and eigenstructure assignment method is adopted to construct the control laws for the stabilization problem and the nonlinear H∞ control problem. A sufficient solvability condition is established onthe unstable zero dynamics of the system for global stabilization problem and nonlinear H∞ control problem, respectively. Moreover, based on the sufficient solvability condition, an upper bound of the achievable L2‐gain is estimated for the nonlinear H∞ control problem. Copyright © 2007 John Wiley & Sons, Ltd. 相似文献
19.
Ciprian Deliu Babak Malek Sandip Roy Ali Saberi Anton A. Stoorvogel 《国际强度与非线性控制杂志
》2010,20(12):1353-1362
》2010,20(12):1353-1362
We study decentralized stabilization of discrete‐time linear time invariant (LTI) systems subject to actuator saturation using LTI controllers. The requirement of stabilization under both saturation constraints and decentralization imposes obvious necessary conditions on the open‐loop plant, namely that its eigenvalues are in the closed unit disc and further that the eigenvalues on the unit circle are not decentralized fixed modes. The key contribution of this work is to provide a broad sufficient condition for decentralized stabilization under saturation. Specifically, we show through an iterative argument that the stabilization is possible: whenever (1) the open‐loop eigenvalues are in the closed unit disc; (2) the eigenvalues on the unit circle are not decentralized fixed modes; and (3) these eigenvalues on the unit circle have algebraic multiplicity of 1. Copyright © 2009 John Wiley & Sons, Ltd. 相似文献
20.
In this paper we propose a nonrecursive method for solving the general discrete-time algebraic Riccati equation related to the H∞ control problem (H∞-DARE). We have achieved this by casting the problem of solving a given H∞-DARE to the problem of solving an auxiliary continuous-time algebraic Riccati equation associated with the H∞ control problem (H∞-CARE) for which the well known nonrecursive methods of solving are available. The advantages of our approach are: it reduces the computation involved in the recursive algorithms while giving much more accurate solutions, and it readily provides the properties of the general H∞-DARE. 相似文献