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Cooperative Control of Multiple Nonlinear Benchmark Systems Perturbed by Second-Order Moment Processes
IEEE Transactions on Cybernetics
|October 2, 2018
Summary
This study addresses cooperative control for nonlinear systems with stochastic perturbations. A novel vectorial backstepping method ensures follower outputs closely match the leader, maintaining system stability.
Area of Science:
- Control Theory
- Nonlinear Systems
- Stochastic Processes
Background:
- Cooperative control is crucial for multi-agent systems.
- Nonlinear systems with stochastic disturbances present significant challenges.
- Limited leader accessibility in directed graphs complicates distributed control design.
Purpose of the Study:
- To develop a distributed cooperative control strategy for nonlinear benchmark systems.
- To address systems perturbed by second-order moment processes.
- To handle scenarios with limited leader information among followers.
Main Methods:
- Vectorial backstepping method for control law design.
- Stochastic analysis techniques.
- Algebra graph theory.
Main Results:
- The cooperative control problem is proven solvable.
- Errors between follower and leader outputs are minimized.
- Closed-loop system states are maintained bounded in probability.
Conclusions:
- The proposed distributed cooperative control scheme is effective.
- The vectorial backstepping approach successfully manages nonlinear systems with stochasticity.
- The method is validated through simulation.
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