Robust second-order tracking of multi-agent systems without velocity measurements and with input saturation

Qingling Wang; Changyin Sun; Jian Hou; Yingjiang Zhou

doi:10.1109/ChiCC.2015.7260805

Robust second-order tracking of multi-agent systems without velocity measurements and with input saturation

Qingling Wang
, Changyin Sun
, Jian Hou
, Yingjiang Zhou

Southeast University, Nanjing
Key Lab of the Ministry of Education for Process Control and Efficiency Egineering
National Key Laboratory of Science and Technology on Aerospace Intelligence Control
Beijing Aerospace Automatic Control Institute
Nanjing University of Posts and Telecommunications

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

This paper investigates the robust second-order tracking problem of multi-agent systems without velocity measurements and with input saturation on detailed balanced directed communication topologies, where agents' dynamics are subject to uncertain and external disturbances. We first construct one distributed bounded controller for multi-agent systems without uncertain and external disturbances. Then, combined with the controller, one modifying uncertainty and disturbance estimator (UDE) is proposed to approximate the situation where neither the velocity measurements nor their asymptotic estimation is available. It is shown that the synchronization errors are bounded and their ultimate bounds could be arbitrarily small by choosing some parameters appropriately. Simulation results are presented to show the effectiveness of the controllers.

Original language	English
Title of host publication	Proceedings of the 34th Chinese Control Conference, CCC 2015
Editors	Qianchuan Zhao, Shirong Liu
Publisher	IEEE Computer Society
Pages	7356-7361
Number of pages	6
ISBN (Electronic)	9789881563897
DOIs	https://doi.org/10.1109/ChiCC.2015.7260805
State	Published - 11 Sep 2015
Externally published	Yes
Event	34th Chinese Control Conference, CCC 2015 - Hangzhou, China Duration: 28 Jul 2015 → 30 Jul 2015

Publication series

Name	Chinese Control Conference, CCC
Volume	2015-September
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	34th Chinese Control Conference, CCC 2015
Country/Territory	China
City	Hangzhou
Period	28/07/15 → 30/07/15

Keywords

Robust second-order consensus
input saturation
uncertainty and disturbance estimator
without velocity measurements

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10.1109/ChiCC.2015.7260805

Cite this

Wang, Q., Sun, C., Hou, J., & Zhou, Y. (2015). Robust second-order tracking of multi-agent systems without velocity measurements and with input saturation. In Q. Zhao, & S. Liu (Eds.), Proceedings of the 34th Chinese Control Conference, CCC 2015 (pp. 7356-7361). Article 7260805 (Chinese Control Conference, CCC; Vol. 2015-September). IEEE Computer Society. https://doi.org/10.1109/ChiCC.2015.7260805

@inproceedings{73d97983d57342a48d38edef1fdc817a,

title = "Robust second-order tracking of multi-agent systems without velocity measurements and with input saturation",

abstract = "This paper investigates the robust second-order tracking problem of multi-agent systems without velocity measurements and with input saturation on detailed balanced directed communication topologies, where agents' dynamics are subject to uncertain and external disturbances. We first construct one distributed bounded controller for multi-agent systems without uncertain and external disturbances. Then, combined with the controller, one modifying uncertainty and disturbance estimator (UDE) is proposed to approximate the situation where neither the velocity measurements nor their asymptotic estimation is available. It is shown that the synchronization errors are bounded and their ultimate bounds could be arbitrarily small by choosing some parameters appropriately. Simulation results are presented to show the effectiveness of the controllers.",

keywords = "Robust second-order consensus, input saturation, uncertainty and disturbance estimator, without velocity measurements",

author = "Qingling Wang and Changyin Sun and Jian Hou and Yingjiang Zhou",

note = "Publisher Copyright: {\textcopyright} 2015 Technical Committee on Control Theory, Chinese Association of Automation.; 34th Chinese Control Conference, CCC 2015 ; Conference date: 28-07-2015 Through 30-07-2015",

year = "2015",

month = sep,

day = "11",

doi = "10.1109/ChiCC.2015.7260805",

language = "英语",

series = "Chinese Control Conference, CCC",

publisher = "IEEE Computer Society",

pages = "7356--7361",

editor = "Qianchuan Zhao and Shirong Liu",

booktitle = "Proceedings of the 34th Chinese Control Conference, CCC 2015",

}

Wang, Q, Sun, C, Hou, J & Zhou, Y 2015, Robust second-order tracking of multi-agent systems without velocity measurements and with input saturation. in Q Zhao & S Liu (eds), Proceedings of the 34th Chinese Control Conference, CCC 2015., 7260805, Chinese Control Conference, CCC, vol. 2015-September, IEEE Computer Society, pp. 7356-7361, 34th Chinese Control Conference, CCC 2015, Hangzhou, China, 28/07/15. https://doi.org/10.1109/ChiCC.2015.7260805

Robust second-order tracking of multi-agent systems without velocity measurements and with input saturation. / Wang, Qingling; Sun, Changyin; Hou, Jian et al.
Proceedings of the 34th Chinese Control Conference, CCC 2015. ed. / Qianchuan Zhao; Shirong Liu. IEEE Computer Society, 2015. p. 7356-7361 7260805 (Chinese Control Conference, CCC; Vol. 2015-September).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Robust second-order tracking of multi-agent systems without velocity measurements and with input saturation

AU - Wang, Qingling

AU - Sun, Changyin

AU - Hou, Jian

AU - Zhou, Yingjiang

PY - 2015/9/11

Y1 - 2015/9/11

N2 - This paper investigates the robust second-order tracking problem of multi-agent systems without velocity measurements and with input saturation on detailed balanced directed communication topologies, where agents' dynamics are subject to uncertain and external disturbances. We first construct one distributed bounded controller for multi-agent systems without uncertain and external disturbances. Then, combined with the controller, one modifying uncertainty and disturbance estimator (UDE) is proposed to approximate the situation where neither the velocity measurements nor their asymptotic estimation is available. It is shown that the synchronization errors are bounded and their ultimate bounds could be arbitrarily small by choosing some parameters appropriately. Simulation results are presented to show the effectiveness of the controllers.

AB - This paper investigates the robust second-order tracking problem of multi-agent systems without velocity measurements and with input saturation on detailed balanced directed communication topologies, where agents' dynamics are subject to uncertain and external disturbances. We first construct one distributed bounded controller for multi-agent systems without uncertain and external disturbances. Then, combined with the controller, one modifying uncertainty and disturbance estimator (UDE) is proposed to approximate the situation where neither the velocity measurements nor their asymptotic estimation is available. It is shown that the synchronization errors are bounded and their ultimate bounds could be arbitrarily small by choosing some parameters appropriately. Simulation results are presented to show the effectiveness of the controllers.

KW - Robust second-order consensus

KW - input saturation

KW - uncertainty and disturbance estimator

KW - without velocity measurements

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M3 - 会议稿件

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BT - Proceedings of the 34th Chinese Control Conference, CCC 2015

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PB - IEEE Computer Society

T2 - 34th Chinese Control Conference, CCC 2015

Y2 - 28 July 2015 through 30 July 2015

ER -

Robust second-order tracking of multi-agent systems without velocity measurements and with input saturation

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