Related Experiment Video
Updated: Feb 3, 2026
08:48
Combining Multiple Data Acquisition Systems to Study Corticospinal Output and Multi-segment Biomechanics
Published on: January 9, 2016
7.3K
Cooperative preview tracking problem of discrete-time linear multi-agent systems: A distributed output regulation
Yanrong Lu1, Fucheng Liao2, Huiyang Liu2
1School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China.
ISA Transactions
|November 3, 2018
Summary
This study addresses cooperative preview tracking for multi-agent systems. A novel distributed control law ensures cooperative tracking consensus by formulating the problem as distributed output regulation.
Area of Science:
- Control Systems Engineering
- Robotics
- Networked Systems
Background:
- Cooperative control is crucial for multi-agent systems.
- Preview tracking enhances system performance with future information.
- Directed acyclic communication topologies present unique challenges.
Purpose of the Study:
- To solve the cooperative preview tracking problem for discrete-time linear multi-agent systems.
- To develop a distributed dynamic feedback control law.
- To establish conditions for achieving cooperative tracking consensus.
Main Methods:
- Augmented system formulation using preview-information-based auxiliary systems and distributed internal models.
- Framing the problem as a distributed output regulation (DOR) problem.
- Analyzing DOR solvability and augmented system stabilizability.
Main Results:
- Sufficient conditions for achieving cooperative tracking consensus are presented.
- A distributed dynamic feedback control law is proposed.
- The control law incorporates virtual regulated output integral and preview feedforward compensation.
Conclusions:
- The proposed control strategy effectively achieves cooperative tracking consensus.
- The method is applicable to discrete-time linear multi-agent systems with fixed directed acyclic communication topologies.
- This work advances the field of distributed cooperative control systems.
Keywords:
Cooperative trackingDistributed internal modelMulti-agent systemsOutput regulationPreview controlMore Related Videos
Related Concept Videos
02:13Cooperative Binding of Transcription Regulators
7.4K
Transcriptional regulators bind to specific cis-regulatory sequences in the DNA to regulate gene transcription. These cis-regulatory sequences are very short, usually less than ten nucleotide pairs in length. The short length means that there is a high probability of the exact same sequence randomly occurring throughout the genome. Since regulators can also bind to groups of similar sequences, this further increases the chances of random binding. Transcriptional regulators form...
7.4K
02:13Cooperative Binding of Transcription Regulators
2.6K
2.6K
01:23Linear time-invariant Systems
924
A system is linear if it displays the characteristics of homogeneity and additivity, together termed the superposition property. This principle is fundamental in all linear systems. Linear time-invariant (LTI) systems include systems with linear elements and constant parameters.
The input-output behavior of an LTI system can be fully defined by its response to an impulsive excitation at its input. Once this impulse response is known, the system's reaction to any other input can be...
The input-output behavior of an LTI system can be fully defined by its response to an impulsive excitation at its input. Once this impulse response is known, the system's reaction to any other input can be...
924
01:24BIBO stability of continuous and discrete -time systems
928
System stability is a fundamental concept in signal processing, often assessed using convolution. For a system to be considered bounded-input bounded-output (BIBO) stable, any bounded input signal must produce a bounded output signal. A bounded input signal is one where the modulus does not exceed a certain constant at any point in time.
To determine the BIBO stability, the convolution integral is utilized when a bounded continuous-time input is applied to a Linear Time-Invariant (LTI) system....
To determine the BIBO stability, the convolution integral is utilized when a bounded continuous-time input is applied to a Linear Time-Invariant (LTI) system....
928
01:26Regulation of Water Output
2.3K
The human body predominantly expels water through the urinary system. On average, an individual generates around 1.5 liters of urine each day. This amount can fluctuate based on how well a person is hydrated, but a critical minimum quantity of urine must be produced to ensure the body's proper functioning. Daily, the kidneys remove 600 to 1200 milliosmoles of dissolved substances, effectively excreting excess minerals and water-soluble toxins such as creatinine, urea, and uric acid from the...
2.3K
01:26Discrete-time Fourier transform
1.1K
The Discrete-Time Fourier Transform (DTFT) is an essential mathematical tool for analyzing discrete-time signals, converting them from the time domain to the frequency domain. This transformation allows for examining the frequency components of discrete signals, providing insights into their spectral characteristics. In the DTFT, the continuous integral used in the continuous-time Fourier transform is replaced by a summation to accommodate the discrete nature of the signal.
One of the notable...
One of the notable...
1.1K