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Feedback control systems

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Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
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WheelCon: A Wheel Control-Based Gaming Platform for Studying Human Sensorimotor Control

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Leader-Following Consensus Control for Uncertain Feedforward Stochastic Nonlinear Multiagent Systems.

Kuo Li, Changchun Hua, Xiu You

IEEE Transactions on Neural Networks and Learning Systems

|August 27, 2021

Summary

This study presents a new control scheme for stochastic nonlinear multiagent systems, enabling leader-following consensus even with changing network structures and external disturbances. The method ensures reliable coordination through a novel compensator-based distributed controller.

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Area of Science:

Control Theory
Systems Engineering
Robotics

Background:

Leader-following consensus is crucial for coordinated multiagent systems.
Stochastic nonlinear systems with switching topologies present significant control challenges.
Limited state information necessitates output-based control strategies.

Purpose of the Study:

To develop a novel consensus scheme for feedforward stochastic nonlinear multiagent systems.
To address leader-following consensus under switching topologies and external disturbances.
To design a controller independent of topology switching signals.

Main Methods:

A dynamic gain-based switched compensator is designed for each follower agent.
A compensator-based distributed controller with derivative and anti-shake properties is developed.
Lyapunov stability theory and average dwell time conditions are employed for analysis.

Main Results:

The proposed control scheme achieves leader-following consensus asymptotically in probability.
The controller is robust to stochastic disturbances and switching topologies.
Numerical simulations validate the effectiveness of the control algorithm.

Conclusions:

The novel consensus scheme provides a feasible and effective solution for complex multiagent systems.
The controller design is simplified and robust, enhancing practical applicability.
The findings contribute to advancements in distributed control and coordination theory.