Leader-Following Sample data Formation Control ofNonholonomic Robots with Switching Network Topologies

Abstract This paper is concerned with sampled-data leader following consensus of multiple unmanned surface vehicle (MUSV) systems with random switching network topologies and wave-induced disturbance. By modelling the switching of network topologies with the use of a Markov process and considering the effect of wave-induced disturbance, a new sampled-data consensus control protocol is proposed. By employing an appropriate Lyapunov-Krosovskii function method and the weak infinitesimal operation, a novel stability criterion is derived, which ensures that the MUSV system can reach robustly leader-following consensus with H∞ performance satisfied. Based on this criterion, the Markov dependent switching consensus controller gains are obtained by solving a set of linear matrix inequalities. Finally, an illustrative example is given to verify the effectiveness of the proposed control scheme for MUSV systems.

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Containment control of leader-following multi-agent systems with Markovian switching network topologies and measurement noises

Automatica ◽

10.1016/j.automatica.2014.10.070 ◽

2015 ◽

Vol 51 ◽

pp. 263-267 ◽

Cited By ~ 58

Author(s):

Wuquan Li ◽

Lihua Xie ◽

Ji-Feng Zhang

Keyword(s):

Markovian Switching ◽

Switching Network ◽

Multi Agent Systems ◽

Containment Control ◽

Agent Systems ◽

Leader Following ◽

Network Topologies ◽

Multi Agent ◽

Measurement Noises

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Leader-following Synchronization Control of Multiple Electrohydraulic Actuators Under Switching Network Topologies

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4053245 ◽

2021 ◽

Author(s):

Qing Guo ◽

Zhenlei Chen ◽

Dan Jiang

Keyword(s):

Nonlinear Models ◽

Switching Network ◽

Synchronization Control ◽

Lie Derivative ◽

Hydraulic Actuator ◽

Synchronization Errors ◽

Lyapunov Techniques ◽

Leader Following ◽

Network Topologies ◽

Electrohydraulic Actuators

Abstract A leader-following quasi-synchronization control is proposed in multiple electrohydraulic actuators (MEHAs) under different switching network topologies to guarantee the follower electrohydraulic actuators (EHAs) tracking the leader motion. Firstly, each electro-hydraulic actuator (EHA) has a 3-order nonlinear dynamics with unknown external load. Then by using Lie derivative technique, the MEHAs nonlinear models with $n+1$ nodes are feedback linearized for convenient control design. Furthermore, the leader node is constructed as a virtual simulation model to be stabilized by PI controller. Meanwhile, a quasi-synchronized controller together with a disturbance observer is designed by LMI and Lyapunov techniques to guarantee that the synchronization errors between the n follower nodes and the leader node 0 are uniformly ultimate boundaries. Finally, the effectiveness of the leader-following quasi-synchronized controller is verified by a MEHAs experimental bench with 3 EHAs under switching network topologies.

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