Output consensus controller design for nonlinear relative degree one multi-agent systems with delays

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 8, Issue PART 1, 2009, Pages 370-375

  Münz, Ulrich ^a   Papachristodoulou, Antonis ^b   Allgöwer, Frank ^a  

^a UNIVERSITY OF STUTTGART   (Germany)

^b UNIVERSITY OF OXFORD   (United Kingdom)

Author keywords

Delays; Multi agent systems; Nonlinear consensus; Relative degree one

Indexed keywords

DELAY CONTROL SYSTEMS; FEEDBACK; NONLINEAR CONTROL SYSTEMS; TOPOLOGY;

COMMUNICATION TOPOLOGIES; DELAYS; EXCHANGE OF INFORMATION; INVARIANCE PRINCIPLE; LYAPUNOV-RAZUMIKHIN FUNCTIONS; NONLINEAR CONSENSUS; OUTPUT FEEDBACK CONTROLLER; RELATIVE DEGREES;

MULTI AGENT SYSTEMS;

EID: 80051479230     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20090901-3-ro-4009.00061     Document Type: Conference Paper

References (18)

1. M. Arcak. Passivity as a design tool for group coordination. IEEE Trans. Autom. Control, 52(8):1380-1390, 2007. (Pubitemid 47321551)
2. P.-A. Bliman and G. Ferrari-Trecate. Average consensus problems in networks of agents with delayed communications. Automatica, 44(8):1985-1995, 2008.
3. N. Chopra and M. Spong. Passivity-based control of multi-agent systems. In S. Kaxamura and M. Svinin, editors, Advances in Robot Control, pages 107-134. Springer, Berlin, Germany, 2006.
4. N. Chopra and M. Spong. Output synchronization of nonlinear systems with relative degree one. In V. D. Blondel, S. P. Boyd, and H. Kimura, editors, Recent Advances in Learning and Control, pages 51-64. Springer, Berlin, Germany, 2008.
5. N. Chopra, D. M. Stipanovíc, and M. W. Spong. On synchronization and collision avoidance for mechanical systems. In Proc. Amer. Contr. Conf., pages 3713-3718, Seattle, USA, 2008.
6. C. Godsil and G. Royle. Algebraic Graph Theory. Springer, New York, 2000.
7. J. R. Haddock and J. Terjéki. Liapunov-Razumikhin functions and an invariance principle for functional Differential equations. J. Differential Equations, 49:95-122, 1983.
8. J. Hale and S. M. V. Lunel. Introduction to Functional Differential Equations. Springer, New York, 1993.
9. J. P. Hespanha, D. Liberzon, D. Angeli, and E. D. Sontag. Nonlinear norm-observability notions and stability of switched systems. IEEE Trans. Autom. Control, 50(2):154-168, 2005. (Pubitemid 40319347)
10. A. Jadbabaie, J. Lin, and S. Morse. Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Trans. Autom. Control, 48(6):988-1001, 2003.
11. Z. Lin, B. Francis, and M. Maggiore. State agreement for continuous-time coupled nonlinear systems. SIAM J. Control Optim., 46(1): 288-307, 2007. (Pubitemid 351271298)
12. U. Münz, A. Papachristodoulou, and F. Allgöwer. Nonlinear multiagent system consensus with time-varying delays. In Proc. IFAC World Congress, pages 1522-1527, Seoul, South Korea, 2008.
13. U. Münz, A. Papachristodoulou, and F. Allgöwer. Consensus reaching in multi-agent packet-switched networks. Int. J. Control, 82(5):953-969, 2009.
14. R. Olfati-Saber, J. A. Fax, and R. M. Murray. Consensus and cooperation in networked multi-agent systems. Proc. IEEE, 95 (1):215-233, 2007.
15. A. Papachristodoulou and A. Jadbabaie. Synchronization of oscillator networks with heterogeneous delays, switching topologies and nonlinear dynamics. In Proc. IEEE Conf. Decision Contr., pages 4307-4312, San Diego, USA, 2006. (Pubitemid 351283996)
16. W. Ren and R. W. Beard. Distributed Consensus in Multi-Vehicle Cooperative Control. Springer, London, UK, 2008.
17. S. H. Strogatz. SYNC: The Emerging Science of Spontaneous Order. Hyperion Press, New York, 2003.
18. P. Wieland, J.-S. Kim, H. Scheu, and F. Allgöwer. On consensus in multi-agent systems with linear high-order agents. In Proc. IFAC World Congress, pages 1541-1546, Seoul, South Korea, 2008.