Article
Automation & Control Systems
Wei Liu, Jie Huang
Summary: This article studies the cooperative output regulation problem for heterogeneous linear multi-agent systems using the distributed sampled-data control approach. Two cases are considered: one with a constant state of the leader system, and the other with a time-varying state with bounded derivative. Solutions are provided for both cases, and two examples are used to illustrate the results.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2021)
Article
Automation & Control Systems
Dong Liang, Yi Dong, Chaoli Wang
Summary: This paper proposes a prescribed-time distributed control method to solve the cooperative output regulation problem for linear multi-agent systems with external disturbances. A distributed observer is designed to estimate the state of the dynamic leader in fixed time, independent of initial conditions. Then, a time-varying distributed control law is designed based on the parametric Lyapunov function technique, improving the transient performance of the closed-loop system.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Automation & Control Systems
Luka Martinovic, Zarko Zecevic, Bozo Krstajic
Summary: This paper investigates the cooperative tracking control of single-integrator multi-agent systems. Leaders inject control inputs to make followers track predefined setpoint trajectories, while followers are controlled through local interaction rules. A novel distributed observer-based control strategy is proposed, and its effectiveness is verified through numerical examples.
EUROPEAN JOURNAL OF CONTROL
(2022)
Article
Computer Science, Information Systems
Guangxu He, Jun Zhao
Summary: This article investigates the cooperative output regulation problem for switched heterogeneous multi-agent systems under aperiodic triggering and combined switching tactics. A fully distributed event-triggered protocol with an integral-type term is implemented under a directed topology that contains a spanning tree, as the global information of the Laplacian matrix is not available in the design. The adaptive laws are designed based on the relative estimator state between neighbors at triggering instants and the time-varying coupled weight of each agent to compensate for the lack of global information. Additionally, the integral-type term in the event-triggering condition helps enlarge the inter-event times and avoid Zeno behavior. To further reduce the switching frequency, combined switching rules based on dwell time and agent-dependent switching strategies are established using time-varying multiple Lyapunov functions. The cooperative output regulation performance for switched multi-agent systems is achieved through the joint action of the combined switching laws and controller. Two examples are provided to verify the effectiveness of the proposed approach.
INFORMATION SCIENCES
(2023)
Article
Automation & Control Systems
Shihao Wang, Shiqi Zheng, Choon Ki Ahn, Peng Shi, Xiaowei Jiang
Summary: This paper investigates the event-triggered cooperative output regulation problem for uncertain multi-agent systems and demonstrates the convergence of the output regulation error. The proposed method deals with unknown parameter systems and allows for heterogeneous follower systems. It is a fully distributed controller that only requires relative outputs and incorporates a reduced-order observer and adaptive event-triggered mechanisms. The approach is validated through simulations and experiments on a multi-joint robot manipulator.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Automation & Control Systems
Jieshuai Wu, Maobin Lu, Fang Deng, Jie Chen
Summary: This article investigates the cooperative robust output regulation problem of multi-agent systems with general linear uncertain dynamics using event-triggered control. In comparison to the practical solution achieved by a distributed event-triggered control law, this study proposes a distributed event-triggered output feedback control law and a class of dynamic event-triggered mechanisms to solve the problem accurately.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Engineering, Electrical & Electronic
Shanling Dong, Guanrong Chen, Meiqin Liu, Zheng-Guang Wu
Summary: This brief investigates the cooperative adaptive H-infinity output regulation problem for continuous-time heterogeneous multi-agent Markov jump systems. The paper designs a distributed observer and control law to achieve output synchronization and effective control performances in the network. Simulation results are provided to verify the theoretical results.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
(2021)
Article
Automation & Control Systems
Yi Jiang, Weinan Gao, Jin Wu, Tianyou Chai, Frank L. Lewis
Summary: This paper proposes a novel control approach to solve the cooperative H infinity output regulation problem for linear continuous-time multi-agent systems (MASs). A distributed feedforward-feedback controller is developed to achieve asymptotic tracking and reject disturbances. A value iteration algorithm is proposed to learn the optimal feedback control gain and feedforward control gain using online data. The effectiveness of the proposed approach is demonstrated through numerical analysis.
Article
Mathematics
Gia-Bao Hong, Sung-Hyun Kim
Summary: This paper investigates the problem of stochastically cooperative output regulation of heterogeneous multi-agent systems subject to hidden Markov jumps using observer-based distributed control. The paper addresses the issues of asynchronous phenomena in the system mode's transmission, the impact of system mode switching on network topology, and the emergence of coupled terms in control design conditions. The proposed method includes a leader-state observer and a linear decoupling method to handle these issues and achieve stochastically cooperative output regulation.
Article
Automation & Control Systems
Shimin Wang, Jie Huang
Summary: This paper investigates the cooperative output regulation problem of linear heterogeneous multi-agent systems influenced by an uncertain leader system, introducing an adaptive distributed observer for estimating the unknown parameter vector of the leader system. The problem is further addressed through distributed state feedback control law and distributed measurement output feedback control law utilizing the adaptive distributed observer.
INTERNATIONAL JOURNAL OF CONTROL
(2021)
Article
Automation & Control Systems
Yujie Tang, Zhaolin Ren, Na Li
Summary: We study a class of cooperative multi-agent optimization problems, where the goal is to cooperatively find the joint action profile that minimizes the average of the local costs. We propose a zeroth-order feedback optimization scheme and provide explicit complexity bounds for different scenarios. The algorithm's performance is justified by a numerical example.
Article
Computer Science, Information Systems
Kedi Xie, Yi Jiang, Xiao Yu, Weiyao Lan
Summary: In this study, a data-driven learning algorithm is developed to estimate the optimal distributed cooperative control policy for linear discrete-time multi-agent systems. The algorithm combines adaptive dynamic programming with an internal model to propose a model-free off-policy learning method. By accessing the measurable data of the multi-agent systems, the algorithm estimates the optimal control gain and distributed adaptive internal model. The online approximation of the distributed internal model is a key difference from traditional cooperative adaptive controller design methods. Convergence and stability analyses demonstrate that the estimated controller generated by the data-driven learning algorithm converges to the optimal distributed controller. Simulation results validate the effectiveness of the proposed method.
SCIENCE CHINA-INFORMATION SCIENCES
(2023)
Article
Automation & Control Systems
Yanrong Lu, Zhengguang Xu, Li Li, Jie Zhang, Wei Chen
Summary: This paper investigates the distributed formation tracking problem with preview information for discrete-time heterogeneous linear multi-agent systems over directed communication networks. Firstly, the problem is transformed into a state regulation problem by constructing an augmented system. Secondly, a linear distributed observer is proposed to achieve asymptotic estimation by introducing two extra parameters. The problem is further formulated in the form of feedforward output regulation using the output information of the observer. Sufficient conditions are deduced for ensuring the achievement of the formation preview tracking by solving the output regulation problem. Numerical simulations demonstrate the positive effect of the distributed design with preview actions on the improvement of transient response. (c) 2022 ISA. Published by Elsevier Ltd. All rights reserved.
Article
Computer Science, Information Systems
Malika Sader, Wenyu Li, Zhongxin Liu, Haijun Jiang, Chao Shang
Summary: A general double-layer scheme is proposed to resolve the cooperative output regulation problem of heterogeneous multi-agent systems subject to actuator saturation and faults. In the network layer, an observer generates a reference trajectory for each follower on the directed communication topology, while a semi-global fault-tolerant control strategy compensates for the impact of actuator saturation and faults in the physical layer. The proposed strategy exhibits better generality and a numerical simulation case study verifies its feasibility.
INFORMATION SCIENCES
(2023)
Article
Automation & Control Systems
Yi Cheng, Can Li, Cheng Song, Shengyuan Xu
Summary: This note investigates the output synchronization of heterogeneous multi-agent systems based on the leader-follower architecture. A distributed continuous-discrete state observer is proposed to estimate the state of the leader using only discrete samples. The distributed controller is constructed based on the observer to achieve exponential output synchronization.
Article
Automation & Control Systems
Soulaimane Berkane, Abdelhamid Tayebi
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2018)
Article
Automation & Control Systems
Soulaimane Berkane, Abdelkader Abdessameud, Abdelhamid Tayebi
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2018)
Article
Automation & Control Systems
Abdelaziz Benallegue, Yacine Chitour, Abdelhamid Tayebi
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2018)
Article
Automation & Control Systems
Hossein Bonyan Khamseh, Farrokh Janabi-Sharifi, Abdelkader Abdessameud
ROBOTICS AND AUTONOMOUS SYSTEMS
(2018)
Article
Automation & Control Systems
Abdelkader Abdessameud
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2019)
Article
Automation & Control Systems
Rabie Riadh Benrezki, Abdelhamid Tayebi, Mohamed Tadjine
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2018)
Article
Automation & Control Systems
Soulaimane Berkane, Abdelhamid Tayebi
Article
Automation & Control Systems
Miaomiao Wang, Abdelhamid Tayebi
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2019)
Proceedings Paper
Automation & Control Systems
Soulaimane Berkane, Abdelhamid Tayebi
2019 18TH EUROPEAN CONTROL CONFERENCE (ECC)
(2019)
Proceedings Paper
Automation & Control Systems
Miaomiao Wang, Abdelhamid Tayebi
2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC)
(2018)
Proceedings Paper
Automation & Control Systems
Miaomiao Wang, Abdelhamid Tayebi
2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC)
(2018)
Proceedings Paper
Automation & Control Systems
Soulaimane Berkane, Abdelhamid Tayebi, Andrew R. Teel
2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC)
(2018)
Article
Automation & Control Systems
Xiaoyu Luo, Chengcheng Zhao, Chongrong Fang, Jianping He
Summary: This paper investigates the problem of false data injection attacks in multi-agent dynamical systems and proposes FDI attack set selection algorithms to maximize the convergence error by finding the optimal subset of compromised agents.
Article
Automation & Control Systems
Nitin K. Singh, Abhisek K. Behera
Summary: In this paper, a twisting observer is proposed for robustly estimating the states of a second-order uncertain system. The observer approximates the unknown sign term for the non-measurable state with a delayed output-based switching function, and achieves the desired steady-state accuracy by controlling the delay parameter. The application of the observer to output feedback stabilization is also discussed.
Article
Automation & Control Systems
Alexander Aleksandrov
Summary: This paper investigates the absolute stability problem for positive Persidskii systems with delay, proposes a special construction method for diagonal Lyapunov-Krasovskii functionals, and derives a criterion for the existence of such functionals guaranteeing the absolute stability, as well as obtaining sufficient conditions for a family of time-delay Persidskii systems to construct a common diagonal Lyapunov-Krasovskii functional. The efficiency of the developed approaches is demonstrated through four examples.
Article
Automation & Control Systems
Noureddine Toumi, Roland Malhame, Jerome Le Ny
Summary: This paper addresses large multi-agent dynamic discrete choice problems using a linear quadratic mean field games framework. The model incorporates the features where agents have to reach a predefined set of possible destinations within a fixed time frame and running costs can become negative to simulate crowd avoidance. An upper bound on the time horizon is derived to prevent agents from escaping to infinity in finite time. The existence of a Nash equilibrium for infinite population and its epsilon-Nash property for a large but finite population are established. Simulations are conducted to explore the model behavior in various scenarios.
Article
Automation & Control Systems
Philippe Schuchert, Vaibhav Gupta, Alireza Karimi
Summary: This paper presents the design of fixed-structure controllers for the As2 and Asw synthesis problem using frequency response data. The minimization of the norm of the transfer function between the exogenous inputs and performance outputs is approximated through a convex optimization problem involving Linear Matrix Inequalities (LMIs). A general controller parametrization is used for continuous and discrete-time controllers with matrix transfer function or state-space representation. Numerical results show that the proposed data-driven method achieves performance equivalent to model-based approaches when a parametric model is available.
Correction
Automation & Control Systems
Zhijun Guo, Gang Chen
Article
Automation & Control Systems
Matteo Della Rossa, Thiago Alves Lima, Marc Jungers, Raphael M. Jungers
Summary: This paper presents new stabilizability conditions for switched linear systems with arbitrary and uncontrollable underlying switching signals. The study focuses on two specific settings: the robust case with completely unknown and unobservable active mode, and the mode-dependent case with controller depending on the current active switching mode. The technical developments are based on graph-theory tools and path-complete Lyapunov functions framework, enabling the design of robust and mode-dependent piecewise linear state-feedback controllers using directed and labeled graphs.
Article
Automation & Control Systems
Elena Petri, Romain Postoyan, Daniele Astolfi, Dragan Nesic, W. P. M. H. (Maurice) Heemels
Summary: This study investigates a scenario where a perturbed nonlinear system transmits its output measurements to a remote observer via a packet-based communication network. By designing both the observer and the local transmission policies, accurate state estimates can be obtained while only sporadically using the communication network.
Article
Automation & Control Systems
Jonas Krook, Robi Malik, Sahar Mohajerani, Martin Fabian
Summary: This paper proposes a method to synthesise controllers for cyber-physical systems subjected to disturbances, such that the controlled system satisfies specifications given as linear temporal logic formulas. The approach constructs a finite-state abstraction of the original system and synthesises a controller for the abstraction. It introduces the robust stutter bisimulation relation to account for disturbances and uncertainty, ensuring that related states have similar effects under the same controller. The paper demonstrates that the existence of a controller for the abstracted system implies the existence of a controller for the original system enforcing the linear temporal logic formula.
Article
Automation & Control Systems
Clement Chahbazian, Karim Dahia, Nicolas Merlinge, Benedicte Winter-Bonnet, Aurelien Blanc, Christian Musso
Summary: The paper derives a recursive formula of the Fisher information matrix on Lie groups and applies it to nonlinear Gaussian systems on Lie groups for testing. The proposed recursive CRLB is consistent with state-of-the-art filters and exhibits representative behavior in estimation errors. This paper provides a simple method to recursively compute the minimal variance of an estimator on matrix Lie groups, which is fundamental for implementing robust algorithms.
Article
Automation & Control Systems
Yiheng Fu, Pouria Ramazi
Summary: This study investigates the characteristics of decision fluctuations in heterogeneous populations and explores the uncertainties in imitation behavior. The findings are important for understanding the bounded rationality nature of imitation behaviors.
Article
Automation & Control Systems
Lars A. L. Janssen, Bart Besselink, Rob H. B. Fey, Nathan van de Wouw
Summary: This paper introduces a mathematical relationship between the accuracy of reduced-order linear-time invariant subsystem models and the stability and accuracy of the resulting reduced-order interconnected linear time-invariant model. This result can be used to directly translate the accuracy characteristics of the reduced-order subsystem models to the accuracy properties of the interconnected reduced-order model, or to translate accuracy requirements on the interconnected system model to accuracy requirements on subsystem models.
Article
Automation & Control Systems
Piyush Gupta, Vaibhav Srivastava
Summary: We study the optimal fidelity selection for a human operator servicing tasks in a queue, considering the trade-off between high-quality service and penalty due to increased queue length. By modeling the operator's cognitive dynamics and task fidelity, we determine the optimal policy and value function numerically, and analyze the structural properties of the optimal fidelity policy.
Article
Automation & Control Systems
Lukas Schwenkel, Alexander Hadorn, Matthias A. Mueller, Frank Allgoewer
Summary: In this work, the authors study economic model predictive control (MPC) in periodic operating conditions. They propose a method to achieve optimality by multiplying the stage cost by a linear discount factor, which is easy to implement and robust against online changes. Under certain assumptions, they prove that the resulting linearly discounted economic MPC achieves optimal asymptotic average performance and guarantees practical asymptotic stability of the optimal periodic orbit.
Article
Automation & Control Systems
Taher Ebrahim, Sankaranarayanan Subramanian, Sebastian Engell
Summary: We propose a robust nonlinear model predictive control algorithm for dynamic systems with mixed degrees of freedom. This algorithm optimizes both continuous and discrete manipulated variables, enhancing closed-loop performance. Our approach relies on a computationally efficient relaxation and integrality restoration strategy and provides sufficient conditions to establish recursive feasibility and guarantee robust closed-loop stability. The effectiveness of the approach is demonstrated through two nonlinear simulation examples.