TY - GEN
T1 - RISE-based cooperative control of uncertain multi-agent system
AU - Tachibana, Yoshihiro
AU - Namerikawa, Toru
N1 - Publisher Copyright:
© 2017 American Automatic Control Council (AACC).
PY - 2017/6/29
Y1 - 2017/6/29
N2 - This paper proposes a RISE-based cooperative control of uncertain multi-agent system with exogenous disturbances. First, we introduce the second order model with disturbance for agent. The network topology among agents is undirected and connected, and information of reference is allowed to be available to at least one agent. Second, we propose the control law consists of graph theory, consensus algorithm and RISE. Graph theory and consensus algorithm are utilized to converge the states of agents to reference value, and RISE is utilized to suppress the disturbance. Then, we show the proposed control law guarantees the agents achieve synchronization, and derive the condition to achieve the control objective. Finally, simulation results show the effectiveness of the proposed control law.
AB - This paper proposes a RISE-based cooperative control of uncertain multi-agent system with exogenous disturbances. First, we introduce the second order model with disturbance for agent. The network topology among agents is undirected and connected, and information of reference is allowed to be available to at least one agent. Second, we propose the control law consists of graph theory, consensus algorithm and RISE. Graph theory and consensus algorithm are utilized to converge the states of agents to reference value, and RISE is utilized to suppress the disturbance. Then, we show the proposed control law guarantees the agents achieve synchronization, and derive the condition to achieve the control objective. Finally, simulation results show the effectiveness of the proposed control law.
UR - http://www.scopus.com/inward/record.url?scp=85027070654&partnerID=8YFLogxK
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U2 - 10.23919/ACC.2017.7963030
DO - 10.23919/ACC.2017.7963030
M3 - Conference contribution
AN - SCOPUS:85027070654
T3 - Proceedings of the American Control Conference
SP - 674
EP - 679
BT - 2017 American Control Conference, ACC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 American Control Conference, ACC 2017
Y2 - 24 May 2017 through 26 May 2017
ER -