Consensus in High-Power Multiagent Systems With Mixed Unknown Control Directions via Hybrid Nussbaum-Based Control
This work investigates the consensus tracking problem for high-power nonlinear multiagent systems with partially unknown control directions. The main challenge of considering such dynamics lies in the fact that their linearized dynamics contain uncontrollable modes, making the standard backstepping...
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| Published in | IEEE transactions on cybernetics Vol. 52; no. 6; pp. 5184 - 5196 |
|---|---|
| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
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United States
IEEE
01.06.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
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| Abstract | This work investigates the consensus tracking problem for high-power nonlinear multiagent systems with partially unknown control directions. The main challenge of considering such dynamics lies in the fact that their linearized dynamics contain uncontrollable modes, making the standard backstepping technique fail; also, the presence of mixed unknown control directions (some being known and some being unknown) requires a piecewise Nussbaum function that exploits the a priori knowledge of the known control directions. The piecewise Nussbaum function technique leaves some open problems, such as Can the technique handle multiagent dynamics beyond the standard backstepping procedure? and Can the technique handle more than one control direction for each agent? In this work, we propose a hybrid Nussbaum technique that can handle uncertain agents with high-power dynamics where the backstepping procedure fails, with nonsmooth behaviors (switching and quantization), and with multiple unknown control directions for each agent. |
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| AbstractList | This work investigates the consensus tracking problem for high-power nonlinear multiagent systems with partially unknown control directions. The main challenge of considering such dynamics lies in the fact that their linearized dynamics contain uncontrollable modes, making the standard backstepping technique fail; also, the presence of mixed unknown control directions (some being known and some being unknown) requires a piecewise Nussbaum function that exploits the a priori knowledge of the known control directions. The piecewise Nussbaum function technique leaves some open problems, such as Can the technique handle multiagent dynamics beyond the standard backstepping procedure? and Can the technique handle more than one control direction for each agent? In this work, we propose a hybrid Nussbaum technique that can handle uncertain agents with high-power dynamics where the backstepping procedure fails, with nonsmooth behaviors (switching and quantization), and with multiple unknown control directions for each agent. This work investigates the consensus tracking problem for high-power nonlinear multiagent systems with partially unknown control directions. The main challenge of considering such dynamics lies in the fact that their linearized dynamics contain uncontrollable modes, making the standard backstepping technique fail; also, the presence of mixed unknown control directions (some being known and some being unknown) requires a piecewise Nussbaum function that exploits the a priori knowledge of the known control directions. The piecewise Nussbaum function technique leaves some open problems, such as Can the technique handle multiagent dynamics beyond the standard backstepping procedure? and Can the technique handle more than one control direction for each agent? In this work, we propose a hybrid Nussbaum technique that can handle uncertain agents with high-power dynamics where the backstepping procedure fails, with nonsmooth behaviors (switching and quantization), and with multiple unknown control directions for each agent.This work investigates the consensus tracking problem for high-power nonlinear multiagent systems with partially unknown control directions. The main challenge of considering such dynamics lies in the fact that their linearized dynamics contain uncontrollable modes, making the standard backstepping technique fail; also, the presence of mixed unknown control directions (some being known and some being unknown) requires a piecewise Nussbaum function that exploits the a priori knowledge of the known control directions. The piecewise Nussbaum function technique leaves some open problems, such as Can the technique handle multiagent dynamics beyond the standard backstepping procedure? and Can the technique handle more than one control direction for each agent? In this work, we propose a hybrid Nussbaum technique that can handle uncertain agents with high-power dynamics where the backstepping procedure fails, with nonsmooth behaviors (switching and quantization), and with multiple unknown control directions for each agent. |
| Author | Cao, Jinde Baldi, Simone Yu, Wenwu Lv, Maolong |
| Author_xml | – sequence: 1 givenname: Maolong orcidid: 0000-0001-6406-2399 surname: Lv fullname: Lv, Maolong email: m.lyu@tudelft.nl organization: School of Control Science and Engineering, Air Force Engineering University, Xi'an, China – sequence: 2 givenname: Wenwu surname: Yu fullname: Yu, Wenwu email: jdcao@seu.edu.cn organization: School of Mathematics, Southeast University, Nanjing, China – sequence: 3 givenname: Jinde orcidid: 0000-0003-3133-7119 surname: Cao fullname: Cao, Jinde email: jdcao@seu.edu.cn organization: School of Mathematics, Southeast University, Nanjing, China – sequence: 4 givenname: Simone orcidid: 0000-0001-9752-8925 surname: Baldi fullname: Baldi, Simone email: S.Baldi@tudelft.nl organization: Delft Center for Systems and Control, Delft University of Technology, Delft, The Netherlands |
| BackLink | https://www.ncbi.nlm.nih.gov/pubmed/33147160$$D View this record in MEDLINE/PubMed |
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| SubjectTerms | Backstepping Consensus tracking Control systems Directed graphs input quantization Multi-agent systems Multiagent systems Nonlinear systems Quantization (signal) switched dynamics Switches Topology Tracking problem unknown control directions |
| Title | Consensus in High-Power Multiagent Systems With Mixed Unknown Control Directions via Hybrid Nussbaum-Based Control |
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