In this paper, the trajectory control of multi-agent dynamical systems with exogenous disturbances is studied. Suppose multiple agents composing of a scale-free network topology, the performance of rejecting disturban...In this paper, the trajectory control of multi-agent dynamical systems with exogenous disturbances is studied. Suppose multiple agents composing of a scale-free network topology, the performance of rejecting disturbances for the low degree node and high degree node is analyzed. Firstly, the consensus of multi-agent systems without disturbances is studied by designing a pinning control strategy on a part of agents, where this pinning control can bring multiple agents＇ states to an expected consensus track. Then, the influence of the disturbances is considered by developing disturbance observers, and disturbance observers based control （DOBC） are developed for disturbances generated by an exogenous system to estimate the disturbances. Asymptotical consensus of the multi-agent systems with disturbances under the composite controller can be achieved for scale-free network topology. Finally, by analyzing examples of multi-agent systems with scale-free network topology and exogenous disturbances, the verities of the results are proved. Under the DOBC with the designed parameters, the trajectory convergence of multi-agent systems is researched by pinning two class of the nodes. We have found that it has more stronger robustness to exogenous disturbances for the high degree node pinned than that of the low degree node pinned.展开更多
In this paper, a new approach is presented for finite-time control problems for linear systems subject to time-varying parametric uncertainties and exogenous disturbance. The disturbance is assumed to be time varying ...In this paper, a new approach is presented for finite-time control problems for linear systems subject to time-varying parametric uncertainties and exogenous disturbance. The disturbance is assumed to be time varying and bounded. Sufficient conditions are obtained for the existence of a linear parameter-dependent state feedback gain, which can ensure that the closed-loop system is finite-time bounded （FTB）. The conditions can be reduced to feasibility problems involving LMIs. Numerical examples show the validity of the proposed methodology.展开更多
This paper investigated the implementation of an adaptive predictive controller using nonlinear dynamic echo state neural （ESN） model for a rotary crane system by the visual servo method. The control sequences withi...This paper investigated the implementation of an adaptive predictive controller using nonlinear dynamic echo state neural （ESN） model for a rotary crane system by the visual servo method. The control sequences within the control horizon were described using cubic spline interpolation to enlarge the predictive horizon. Verification of the proposed scheme in the face of exogenous disturbances and modeling error with inaccurate string length was demonstrated by both simulations and experiments.展开更多
基金Supported by the National Natural Science Foundation of China under Grant Nos.60774016,60875039,60904022the Science Foundation of Education Office of Shandong Province of China under Grant No.J08LJ01Internal Visiting Scholar Object for Excellence Youth Teacher of the College of Shandong Province of China
文摘In this paper, the trajectory control of multi-agent dynamical systems with exogenous disturbances is studied. Suppose multiple agents composing of a scale-free network topology, the performance of rejecting disturbances for the low degree node and high degree node is analyzed. Firstly, the consensus of multi-agent systems without disturbances is studied by designing a pinning control strategy on a part of agents, where this pinning control can bring multiple agents＇ states to an expected consensus track. Then, the influence of the disturbances is considered by developing disturbance observers, and disturbance observers based control （DOBC） are developed for disturbances generated by an exogenous system to estimate the disturbances. Asymptotical consensus of the multi-agent systems with disturbances under the composite controller can be achieved for scale-free network topology. Finally, by analyzing examples of multi-agent systems with scale-free network topology and exogenous disturbances, the verities of the results are proved. Under the DOBC with the designed parameters, the trajectory convergence of multi-agent systems is researched by pinning two class of the nodes. We have found that it has more stronger robustness to exogenous disturbances for the high degree node pinned than that of the low degree node pinned.
基金the Scientific Innovation Team Project of Hubei Provincial Department of Education (T200809)the Science Foundationof Education Commission of Hubei Province (No. D20081306)the Doctoral Pre-research Foundation of Three Gorges University
文摘In this paper, a new approach is presented for finite-time control problems for linear systems subject to time-varying parametric uncertainties and exogenous disturbance. The disturbance is assumed to be time varying and bounded. Sufficient conditions are obtained for the existence of a linear parameter-dependent state feedback gain, which can ensure that the closed-loop system is finite-time bounded （FTB）. The conditions can be reduced to feasibility problems involving LMIs. Numerical examples show the validity of the proposed methodology.
基金supported by“MOST”for the support under Grants No.MOST 104-2632-B-468-001,No.MOST 103-2221-E-468-009-MY2,No.MOST 104-2221-E-182-008-MY2,No.MOST 105-2221-E-468-009,No.MOST 106-2221-E-468-023,No.MOST 106-2221-E-182-033Chang Gung Memorial Hospital under Grant No.CMRPD2C0053
文摘This paper investigated the implementation of an adaptive predictive controller using nonlinear dynamic echo state neural （ESN） model for a rotary crane system by the visual servo method. The control sequences within the control horizon were described using cubic spline interpolation to enlarge the predictive horizon. Verification of the proposed scheme in the face of exogenous disturbances and modeling error with inaccurate string length was demonstrated by both simulations and experiments.
