Tracking control problem in multiagent systems with Lipschitz nonlinearities and external disturbances

2018 ◽  
Vol 41 (3) ◽  
pp. 760-767 ◽  
Author(s):  
Ahmadreza Jenabzadeh ◽  
Behrouz Safarinejadian
Keyword(s):  
Control Problem ◽  
Multiagent Systems ◽  
Tracking Control ◽  
Control Algorithm ◽  
Distributed Estimation ◽  
External Disturbances ◽  
Estimation And Control ◽  
The Stability ◽  
And Control ◽  
Disturbance Estimator

This paper investigates the tracking control problem of multiagent systems with Lipschitz nonlinearities and external disturbances that track a target with states that are not available to any of the agents. For this purpose, a distributed estimation and control algorithm (DECA) is firstly designed for each agent to estimate and track the target’s states. Then, the proposed DECA is extended based on a finite time disturbance estimator for tracking control in the presence of external disturbances. The stability analysis of suggested algorithms is also considered. Simulation examples illustrate the promising performance of the proposed algorithms.

Implementation of State and Disturbance Estimation for Quadrotor Control Using Extended High-Gain Observers

2016 ◽  
Author(s):  
Connor J. Boss ◽  
Joonho Lee ◽  
Charles Carvalho de Aguiar ◽  
Jongeun Choi
Keyword(s):  
Control Algorithm ◽  
High Gain ◽  
Dynamic Inversion ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Disturbance Estimation ◽  
Sample Data ◽  
Estimation And Control ◽  
Control Forces ◽  
And Control

This paper proposes a discrete-time, multi-time-scale estimation and control design for quadrotors in the presence of external disturbances and model uncertainties. Assuming that not all state measurements are available, they will need to be estimated. The sample-data Extended High-Gain Observers are used to estimate unmeasured states, system uncertainties, and external disturbances. Discretized dynamic inversion utilizes those estimates and deals with an uncertain principal inertia matrix. In the plant dynamics, the proposed control forces the rotational dynamics to be faster than the translational dynamics. Numerical simulations and experimental results verify the proposed estimation and control algorithm. All sensing and computation is done on-board the vehicle.

Robust fault-tolerant flight control of quadrotor against faults in multiple motors

2021 ◽  
pp. 095441002199954
Author(s):  
Dinesh D Dhadekar ◽  
S E Talole
Keyword(s):  
Flight Control ◽  
Tracking Control ◽  
Fault Tolerant ◽  
External Disturbances ◽  
Detection And Identification ◽  
Attitude Tracking ◽  
Fault Detection And Identification ◽  
Attitude Tracking Control ◽  
Disturbance Estimator

In this article, position and attitude tracking control of the quadrotor subject to complex nonlinearities, input couplings, aerodynamic uncertainties, and external disturbances coupled with faults in multiple motors is investigated. A robustified nonlinear dynamic inversion (NDI)-based fault-tolerant control (FTC) scheme is proposed for the purpose. The proposed scheme is not only robust against aforementioned nonlinearities, disturbances, and uncertainties but also tolerant to unexpected occurrence of faults in multiple motors. The proposed scheme employs uncertainty and disturbance estimator (UDE) technique to robustify the NDI-based controller by providing estimate of the lumped disturbance, thereby enabling rejection of the same. In addition, the UDE also plays the role of fault detection and identification module. The effectiveness and benefits of the proposed design are confirmed through 6-DOF simulations and experimentation on a 3-DOF Hover platform.

Control of an Asynchronous Electric Drive Based on Forecasting Its State

2021 ◽  
Vol 64 (3) ◽  
pp. 45-52
Author(s):  
Evgeny Eshchin ◽  
Keyword(s):  
Electric Drive ◽  
Control Algorithm ◽  
Asynchronous Motor ◽  
Quality Of Control ◽  
Asynchronous Electric Drive ◽  
Theory Of Optimal Control ◽  
The Stability ◽  
Control System Model ◽  
And Control

Variants of constructing control systems with a lagging argument for the positioning problem of an asyn-chronous electric motor (IM) and the problem of energy-saving AM control are considered. Variants of control of an asynchronous electric drive with IM on the basis of predicting its state are considered. The analytical de-sign of the predictor (ADP) is an asynchronous motor control algorithm based on the mathematical theory of optimal control (L.S. Pontryagin's maximum principle). The control algorithm (ADP) ensures the achievement of the minimum value of the target functional, which (functional), in contrast to the structure of the classical pre-dictive control system (Model Predictive Control - MPC), is clearly not part of the ADP. Calculations of the movements of an electric drive with an IM in the control modes of its state, taking into account delays along the channels for assessing its state and control, as well as using predictors, are given. The effectiveness of the in-troduction of predictors to improve the stability and quality of control of an electric drive with an IM has been established.

scholarly journals Circular Formation Control of Multiagent Systems with Any Preset Phase Arrangement

2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Lina Jin ◽  
Shuanghe Yu ◽  
Dongxu Ren
Keyword(s):  
Control Problem ◽  
Multiagent Systems ◽  
Formation Control ◽  
Closed Loop ◽  
Phase Distribution ◽  
The Other ◽  
Control Law ◽  
Closed Loop System ◽  
The Stability ◽  
Phase Arrangement

This paper deals with the circular formation control problem of multiagent systems for achieving any preset phase distribution. The control problem is decomposed into two parts: the first is to drive all the agents to a circle which either needs a target or not and the other is to arrange them in positions distributed on the circle according to the preset relative phases. The first part is solved by designing a circular motion control law to push the agents to approach a rotating transformed trajectory, and the other is settled using a phase-distributed protocol to decide the agents’ positioning on the circle, where the ring topology is adopted such that each agent can only sense the relative positions of its neighboring two agents that are immediately in front of or behind it. The stability of the closed-loop system is analyzed, and the performance of the proposed controller is verified through simulations.

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