전기전자학회논문지 (Journal of IKEEE)

  • 제22권1호
  • /
  • Pages.121-126
  • /
  • 2018
  • /
  • 1226-7244(pISSN)
  • /
  • 2288-243X(eISSN)
한국전기전자학회 (Institute of Korean Electrical and Electronics Engineers)
권호 표지
DOI QR코드

DOI QR Code

비선형 다개체 시스템의 관측기 기반의 일치

Observer based consensus of nonlinear multi-agent systems

  • Lee, Sungryul (Dept. of Control & Robotics Eng., Kunsan National University)
  • 투고 : 2018.03.12
  • 심사 : 2018.03.27
  • 발행 : 2018.03.31
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

본 논문은 관측기 기반의 제어기를 이용한 비선형 다개체 시스템의 일치문제를 다룬다. 이를 위하여 기존의 저이득 제어기에 고이득 접근방법을 결합한다. 리아푸노프 방법을 이용하여 제안한 관측기 기반의 일치 제어기가 삼각구조 비선형 시스템의 일치를 보장해줌을 보인다.

This paper addresses the consensus problem for nonlinear multi-agent systems using observer based controller. In order to solve this problem, the high gain approach is combined with the previous low gain controller. Also, it is shown that the proposed observer based controller can always guarantee the consensus of nonlinear systems with lower triangular nonlinearity.

키워드

참고문헌

  1. R. Olfati-Saber, and R. Murray, "Consensus Problems in Networks of Agents With Switching Topology and Time-Delays," IEEE Trans. Automat. Contr., vol.49, no.9, pp.1520-1533,2004..DOI: 10.1109/TAC.2004.834113
  2. J. Seo, H. Shim, and J. Back, "Consensus of high-order linear systems using dynamic output feedback compensator: Low gain approach," Automatica, vol.45, no.11, pp.2659-2664, 2009.DOI:10.1016/j.automatica.2009.07.022
  3. P. Wieland, R. Sepulchre, and F. Allgower, "An internal model principle is necessary and sufficient for linear output synchronization," Automatica, vol.47, no.5, pp.1068-1074, 2011.DOI:10.1016/j.automatica.2011.01.081
  4. Z. Li, Z. Duan, G. Chen, and L. Huang, "Consensus of Multiagent Systems and Synchronization of Complex Networks: A Unified Viewpoint," IEEE Trans. Circuits & Systems-I : Regular Papers, vol.57, no.1, pp.213-224, 2010.DOI:10.1109/TCSI.2009.2023937
  5. H. L. Trentelman, K. Takaba, and N. Monshizadeh, "Robust Synchronization of Uncertain Linear Multi-Agent Systems," IEEE Trans. Automat. Contr., vol.58, no.6, pp.1511-1523, 2013.DOI:10.1109/TAC.2013.2239011
  6. Z. Li, W. Ren, X. Liu, and M. Fu, "Consensus of Multi-Agent Systems With General Linear and Lipschitz Nonlinear Dynamics Using Distributed Adaptive Protocols," IEEE Trans. Automat. Contr., vol.58, no.7, pp.1786-1791, 2013.DOI: 10.1109/TAC.2012.2235715
  7. J. Hu, J. Cao, J. Yu, and T. Hayat, "Consensus of nonlinear multi-agent systems with observer-based protocols," Systems & Control Letters, vol.72, pp.71-79, 2014,DOI:10.1016/j.sysconle.2014.07.004
  8. G. Wen, Z. Duan, G. Chen, and W. Yu, "Consensus Tracking of Multi-Agent Systems With Lipschitz-Type Node Dynamics and Switching Topologies," IEEE Trans. Circuits & Systems I : Regular Papers, vol.61, no.2, pp.499-511, 2014.DOI:10.1109/TCSI.2013.2268091
  9. W. Xu, J. Cao, W. Yu, and J. Lu, "Leader-following consensus of non-linear multi-agent systems with jointly connected topology," IET Control Theory & Applications, vol.8, no.6, pp.432-440, 2014.DOI:10.1049/iet-cta.2013.0813
  10. A. Isidori, L. Marconi, and G. Casadei, "Robust output synchronization of a network of heterogeneous nonlinear agents via nonlinear regulation theory," IEEE Trans. Automat. Contr., vol.59, no.10, pp.2680-2691, 2014.DOI:10.1109/TAC.2014.2326213
  11. Z. Lin, Low gain feedback, Springer, 1999.
  12. S. Lee, "Output Feedback Consensus of High-order Integrators with a Communication Delay," J. Inst. Korean. Electr. Electron. Eng., vol. 20, no. 4, pp. 378-384, 2016.