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Jan.  2014

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2014  >  1(1): 46-53
Tengfei Liu and Zhongping Jiang, "Distributed Control of Nonlinear Uncertain Systems: A Cyclic-small-gain Approach," IEEE/CAA J. of Autom. Sinica, vol. 1, no. 1, pp. 46-53, 2014.
Citation: Tengfei Liu and Zhongping Jiang, "Distributed Control of Nonlinear Uncertain Systems: A Cyclic-small-gain Approach," IEEE/CAA J. of Autom. Sinica, vol. 1, no. 1, pp. 46-53, 2014.
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Distributed Control of Nonlinear Uncertain Systems: A Cyclic-small-gain Approach

  • 1. State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110004, China;

  • 2. Department of Electrical and Computer Engineering, Polytechnic Institute of New York University, New York NY 11201, USA

Funds:

This work was supported by US National Science Foundation (DMS-0906659, EC CS-1230040).

    Abstract
  • This paper presents a cyclic-small-gain approach to distributed control of nonlinear multi-agent systems for output agreement. Through a novel nonlinear control law design, the output agreement problem is transformed into a stabilization problem, and the closed-loop multi-agent system is transformed into a large-scale system composed of input-to-state stability (ISS) subsystems which are interconnected with each other through redefined outputs. By forcing the redefined outputs to go to arbitrarily small neighborhoods of the origin, practical consensus is achieved for the agents in the sense that their outputs ultimately converge to each other within an arbitrarily small region. A recently developed cyclic-small-gain result is adopted to assign appropriately the ISS gains to the transformed interconnected system. Moreover, if the system is disturbancefree, then consensus can be guaranteed. Interestingly, the closedloop multi-agent system is also robust to bounded time-delays and disturbances in information exchange.

     

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