scholarly journals Decentralized Adaptive Control for Quasi-Consensus in Heterogeneous Nonlinear Multiagent Systems

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Jiaju An ◽  
Wei Yang ◽  
Xiaohui Xu ◽  
Tianxiang Chen ◽  
Bin Du ◽  
...  
Keyword(s):  
Nonlinear Dynamics ◽  
Adaptive Control ◽  
Multiagent Systems ◽  
Controller Design ◽  
Adaptive Controller ◽  
Consensus Problem ◽  
Theoretical Derivation ◽  
Numerical Tests ◽  
Control Protocols ◽  
New Inequalities

This paper proposes some novel decentralized adaptive control protocols to settle the quasi-consensus problem of multiagent systems with heterogeneous nonlinear dynamics. Based on local communication with the leader and between the followers, some innovative control protocols are put forward to adapt the control gains and coupling weights simultaneously and to steer the consensus errors to some bounded areas. In particular, two new inequalities are proposed to establish the Lyapunov-based adaptive controller design approach for quasi-consensus. Some quasi-consensus criteria are derived by utilizing the designed controllers, in which the error bound can be modulated on the basis of the adaptive controller parameters. Numerical tests are conducted to show the feasibility of the theoretical derivation. Our findings highlight quasi-consensus in heterogeneous multiagent systems without adding some additional complex nonlinear control terms to cancel the dynamical differences between agents.

An Adaptively Controlled Electrohydraulic Servo-Mechanism: Part 1: Adaptive Controller Design

1987 ◽  
Vol 201 (3) ◽  
pp. 175-180 ◽  
Author(s):  
K A Edge ◽  
K R A Figueredo
Keyword(s):  
Adaptive Control ◽  
Controller Design ◽  
Control Design ◽  
Adaptive Controller ◽  
Adaptive Control System ◽  
Sampled Data ◽  
Robust Controller ◽  
Servo Mechanism ◽  
Control Scheme ◽  
Model Reference Adaptive

A systematic model reference adaptive control design scheme is presented. The control scheme is developed and analysed within the framework of a sampled data system with a parameter adaptive algorithm designed on the basis of hyper stability theory. A number of supervisory functions are used to supplement the basic adaptive control system in order to enhance robust controller action.

scholarly journals Consensus Control of Multiagent Systems with High-Order Nonlinear Inaccurate Dynamics and Dynamically Switching Undirected Topologies

2018 ◽  
Vol 2018 ◽  
pp. 1-7
Author(s):  
Qiang Wang ◽  
Qingtian Meng ◽  
Xiaonan Fang ◽  
Huaxiang Zhang
Keyword(s):  
Nonlinear Dynamics ◽  
Multiagent Systems ◽  
Directed Graph ◽  
Feedback Linearization ◽  
Sliding Mode ◽  
High Order ◽  
The Other ◽  
Consensus Control ◽  
Control Protocols ◽  
The One

This paper investigates the consensus control of a class of high-order nonlinear multiagent systems, whose topology is dynamically switching directed graph. First, the high-order nonlinear dynamics is transformed into the one-order dynamics by structuring a sliding mode plane; then, two consensus control protocols of the one-order dynamics are designed by feedback linearization, one of which is based on PD (proportion and derivative) and the other is based on PID (proportion, integral and derivative). Under these control protocols, it is proved that the consensus of new variable only requires a weaker topology condition; next, we prove that the consensus of the new variable is sufficient to the consensus of the states of multiagent systems, which implies that it only requires a weaker topology condition for the consensus of multiagent systems; finally, the study of an illustrative example with simulations shows that our results as well as designed control protocols work very well in studying the consensus of this class of multiagent systems.

Adaptive Controller Design of Pneumatic Teleoperation System

2015 ◽  
Author(s):  
Mohamad Anwar Baayoun ◽  
Naseem Daher ◽  
Matthias Liermann
Keyword(s):  
Adaptive Control ◽  
Force Feedback ◽  
Controller Design ◽  
Control Design ◽  
Force Sensor ◽  
Adaptive Controller ◽  
Physical Contact ◽  
Variable Environment ◽  
Linear Controller ◽  
Teleoperation System

This paper presents an adaptive control design of a pneumatic teleoperation system that could be useful for applications like MRI-guided surgery. The system under study is special because of its reduced number of components compared to other bilateral teleoperation systems, which reduces cost and complexity. The direct fluidic connection and the force feedback that is transferred to the human operator allow the operator to feel as if s/he were having physical contact with the environment without the need for a force sensor on the slave actuator. A simulation model that allows stability and transparency assessment is presented in detail. A linear controller is optimized for various operating remote environments via transparency assessment. The linear controller leads to good results for certain operating environments, but its tuning is dependent on the impedance characteristic of the environments both on the master and slave sides. Since the system must perform under parametric uncertainties on both sides of the teleoperator, an adaptive control scheme is developed. A self-tuning regulator is designed to allow the teleoperator to cope with a variable environment. The control design is validated in simulation and yielded satisfactory performance under multiple environment settings.

Design and Analysis of Adaptive Control Systems Over Wireless Networks

2017 ◽  
Vol 139 (7) ◽  
Author(s):  
Ali Albattat ◽  
Benjamin Gruenwald ◽  
Tansel Yucelen
Keyword(s):  
Wireless Networks ◽  
Adaptive Control ◽  
Control Systems ◽  
Data Exchange ◽  
Controller Design ◽  
Adaptive Controller ◽  
System Stability ◽  
Design Parameters ◽  
Adaptive Control Systems ◽  
Command Following

In this paper, we study the design and analysis of adaptive control systems over wireless networks using event-triggering control theory. The proposed event-triggered adaptive control methodology schedules the data exchange dependent upon errors exceeding user-defined thresholds to reduce wireless network utilization and guarantees system stability and command following performance in the presence of system uncertainties. Specifically, we analyze stability and boundedness of the overall closed-loop dynamical system, characterize the effect of user-defined thresholds and adaptive controller design parameters to the system performance, and discuss conditions to make the resulting command following performance error sufficiently small. An illustrative numerical example is provided to demonstrate the efficacy of the proposed approach.

Neural network adaptive control of nonlinear systems preceded by hysteresis

2020 ◽  
Vol 32 (1) ◽  
pp. 104-112
Author(s):  
Xinlong Zhao ◽  
Qiang Su ◽  
Shengxin Chen ◽  
Yonghong Tan
Keyword(s):  
Neural Network ◽  
Adaptive Control ◽  
Controller Design ◽  
Experimental Tests ◽  
Adaptive Controller ◽  
Auxiliary Variable ◽  
Proposed Model ◽  
And Control ◽  
Novel Model ◽  
Hysteresis Characteristics

Neural network adaptive control is proposed for a class of nonlinear system preceded by hysteresis. A novel model is developed to represent the hysteresis characteristics in explicit form. Furthermore, the auxiliary variable of the proposed model is proved to be bounded, which is essential for controller design. Then, neural network adaptive controller is directly applied to mitigate the influence of the hysteresis without constructing the hysteresis inverse. The updated law and control law of the controllers are derived from Lyapunov stability theorem, so that the boundedness of the close-loop system is guaranteed. Finally, the experimental tests are carried out to validate the effectiveness of the proposed approach.

A Non-Conservative Approach for the Estimation of the Region of Operation of Uncertain Adaptive Control Systems

2015 ◽  
Author(s):  
Mario Luca Fravolini ◽  
Tansel Yucelen ◽  
Antonio Moschitta ◽  
Benjamin Gruenwald
Keyword(s):  
Adaptive Control ◽  
Control Systems ◽  
Lyapunov Functions ◽  
Controller Design ◽  
Tracking Error ◽  
Adaptive Controller ◽  
Adaptive Control Systems ◽  
Short Period ◽  
Conservative Estimation ◽  
And Performance

A challenging problem for Model Reference Adaptive Control Systems is the accurate characterization of the transient response in the presence of large uncertainties. Early prior research by the authors has demonstrated that using a projection mechanism for parameters adaptation the tracking error dynamics behaves as a linear system perturbed by bounded uncertainties. This brings the benefit that the stability analysis can be cast in terms of a convex optimization problem with LMI constraints so that efficient numerical tools can be used for the adaptive controller design. A possible limitation of the approach is that the design is restricted to quadratic control Lyapunov functions that could produce a conservative estimation of the regions of operation for the actual uncertain adaptive system. In this paper this approach is extended to arbitrary high degree polynomial Lyapunov functions by translating the design and performance requirements in terms of Sum of Square (SOS) inequalities and then using SOS optimization tools for the design. In this effort the new SOS approach is introduced and compared with the previous one. A numerical example based on the short period longitudinal dynamics of the F16 aircraft is used to demonstrate the efficacy of the novel method.

Fiberglass Reinforced Plastic Winding System Adaptive Controller Design

2012 ◽  
Vol 182-183 ◽  
pp. 1890-1894
Author(s):  
Zeng Tao Xue ◽  
Zheng Li
Keyword(s):  
Adaptive Control ◽  
Controller Design ◽  
Control Strategies ◽  
Adaptive Controller ◽  
System Control ◽  
Technology Study ◽  
Reinforced Plastic ◽  
Advanced Control ◽  
Control Principle ◽  
Model Reference Adaptive

This paper mainly introduces the components of fiberglass reinforced plastic winding automatic control system. According to the model reference adaptive control principle, an algorithm of adaptive control and its gain adjustable controller are presented, which is very suitable for the position servo system control. The control algorithm is relatively simple, and not only has achieved fine effects on the control of fiberglass reinforced plastic winding machines, but also has accomplished with small errors following any given speed as proved in simulations. It is expected that this research can be helpful to the fiberglass reinforced plastic winding technology study and improvements with advanced control strategies.

Adaptive Controller Design for SISO Switched Nonlinear Systems with Linear Uncertain Parameters

2014 ◽  
Vol 602-605 ◽  
pp. 1362-1366
Author(s):  
Xiao Ping Zong ◽  
Miao Zhang ◽  
Pei Guang Wang
Keyword(s):  
Adaptive Control ◽  
Nonlinear Systems ◽  
Controller Design ◽  
Adaptive Controller ◽  
Model Reference ◽  
Single Input Single Output ◽  
Single Output ◽  
Switched Nonlinear System ◽  
Adaptive Laws ◽  
Single Input

This paper presents that single input single output (SISO) switched nonlinear system tracks the variation of the state error to approach the excepted values by using model reference adaptive control (MRAC) method. In order to improve the adaptive control for nonlinear systems by Using Narendra method and dividing the system into two parts: linear and nonlinear parts. The controllers are designed to guarantee that the systems are closed to the model reference system with the arbitrary switching signal. Switching systems can ensure choose the best controller so that can enhance the performance. The adaptive laws are given that are based on a class of feedback single input single output nonlinear uncertain systems which can switch feedback linear standard models. The adaptive laws are different from the classic adaptive laws, because they vary with different switching signals until the best matching one comes. Simulation results show that the proposed method is effective.

scholarly journals Kalman State Estimation and LQR Assisted Adaptive Control Of a Variable Loaded Servo System

2019 ◽  
Vol 9 (3) ◽  
pp. 4125-4130 ◽  
Author(s):  
O. Aydogdu ◽  
M. L. Levent
Keyword(s):  
Adaptive Control ◽  
Control Method ◽  
Controller Design ◽  
Servo System ◽  
Adaptive Controller ◽  
Variable Load ◽  
Performance Measurements ◽  
Load Effect ◽  
Lqr Control ◽  
Control Work

This study actualized a new hybrid adaptive controller design to increase the control performance of a variable loaded time-varying system. A structure in which LQR and adaptive control work together is proposed. At first, a Kalman filter was designed to estimate the states of the system and used with the LQR control method which is one of the optimal control servo system techniques in constant initial load. Then, for the variable loaded servo (VLS) system, the Lyapunov based adaptive control was added to the LQR control method which was inadequate due to the constant gain parameters. Thus, it was aimed to eliminate the variable load effects and increase the stability of the system. In order to show the effectiveness of the proposed method, a Quanser servo module was used in Matlab-Simulink environment. It is seen from the experimental results and performance measurements that the proposed method increases the system performance and stability by minimizing noise, variable load effect and steady-state error.

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