Search

To deal with the problem of conflicting requirements that cannot be satisfied by only a single LTI controller, this paper focuses on the design of a switching controller, which includes several stabilising linear time-invariant (LTI) controllers designed independently with different control performance criteria, for a specific LTI plant with a single I/O delay. The switching controller design procedure is divided into three steps. First, using simple loop shifting arguments, the design problem is reducible to an equivalent delay-free one. Second, traditional LTI controller synthesis methods could be considered independently for the delay-free plant. Third, based on a quadratically stable state space realisation method, a Youla parameter including a switching strategy with these controllers is designed to guarantee different requirements. Finally, a numerical example is provided to demonstrate the validity and efficiency of the approach. [ABSTRACT FROM AUTHOR]

In this work, synthesis of robust distributed model predictive control (MPC) is presented for a class of linear systems subject to structured time-varying uncertainties. By decomposing a global system into smaller dimensional subsystems, a set of distributed MPC controllers, instead of a centralised controller, are designed. To ensure the robust stability of the closed-loop system with respect to model uncertainties, distributed state feedback laws are obtained by solving a min–max optimisation problem. The design of robust distributed MPC is then transformed into solving a minimisation optimisation problem with linear matrix inequality constraints. An iterative online algorithm with adjustable maximum iteration is proposed to coordinate the distributed controllers to achieve a global performance. The simulation results show the effectiveness of the proposed robust distributed MPC algorithm. [ABSTRACT FROM AUTHOR]

This paper addresses the explicit synchronisation of heterogeneous dynamics networks via three-layer communication framework. The main contribution is to propose an explicit synchronisation algorithm, in which the synchronisation errors of all the agents are decoupled. By constructing a three-layer node model, the proposed algorithm removes the assumptions that the topology is fixed and the synchronisation process is coupled. By introducing appropriate assumptions, the algorithm leads to a class of explicit synchronisation protocols based on the states of agents in different layers. It is proved in the sense of Lyapunov that, if the dwell time is larger than a threshold, the explicit synchronisation can be achieved for closed-loop heterogeneous dynamics networks under switching topologies. The results are further extended to the cases in which the switching topologies are only frequently but not always connected. Simulation results are presented with four single-link manipulators to verify the theoretical analysis. [ABSTRACT FROM AUTHOR]

This paper studies the joining consensus of networked multi-agent systems subject to nonlinear couplings and weighted directed graphs via pinning control. A weighted-average consensus protocol is proposed to achieve the collective decision by interacting with the local information of some pinned agents. By proposing a novel joining consensus protocol, average consensus and general consensus strategies are joined to achieve an agreement for the weighting networked system. Furthermore, by calculating a proper consensus gain and using finite control Lyapunov controllers, an efficient joining consensus protocol is presented to improve the consensus speed. Sufficient conditions for achieving the consensuses asymptotically are proved. Finally, theoretical results are validated via simulations. [ABSTRACT FROM PUBLISHER]

In this paper, we study the distributed model predictive control (MPC) of polytopic uncertain systems with quantised communication and packet dropouts. The model of the whole plant is divided into a certain number of incomplete subsystems. Due to the nature of the distributed control structure, there is generally a lack of information about the state of the overall system. Each subsystem shares its information with neighbour subsystems via reliable connection. Distributed MPC controllers are designed for each subsystem by solving the linear matrix inequalities optimisation problem. The distributed state feedback laws are quantised and transmitted via communication network. An iterative algorithm is presented to make coordination among distributed state feedback laws. The communication is assumed to be affected by random packet dropouts in a representation of Bernoulli distributed white sequences with known conditional probabilities. A case study is carried out to demonstrate the effectiveness of the proposed distributed MPC technique. [ABSTRACT FROM PUBLISHER]