Some Recent Results on Distributed Control of Nonlinear Systems

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• 刊名：Lecture Notes in Control and Information Sciences
• 出版年：2017
• 出版时间：2017
• 年：2017
• 卷：470
• 期：1
• 页码：21-50
• 全文大小：819 KB
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• 作者单位：Tengfei Liu (6)
  Zhong-Ping Jiang (7)
  
  6. State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China
  7. Department of Electrical and Computer Engineering, Tandon School of Engineering, New York University, Brooklyn, NY, 11201, USA
  
• 丛书名：Nonlinear Systems
• ISBN：978-3-319-30357-4
• 刊物类别：Engineering
• 刊物主题：Control Engineering
  Vibration, Dynamical Systems and Control
  
• 出版者：Springer Berlin / Heidelberg
• 卷排序：470

文摘

The spatially distributed structure of complex systems motivates the idea of distributed control. In a distributed control system, the subsystems are controlled by local controllers through information exchange with neighboring agents for coordination purposes. One of the major difficulties of distributed control is due to the complex characteristics such as nonlinearity, dimensionality, uncertainty, and information constraints. This chapter introduces small-gain methods for distributed control of nonlinear systems. In particular, a cyclic-small-gain result in digraphs is presented as an extension of the standard nonlinear small-gain theorem. It is shown that the new result is extremely useful for distributed control of nonlinear systems. Specifically, this chapter first gives a cyclic-small-gain design for distributed output-feedback control of nonlinear systems. Then, an application to formation control problem of nonholonomic mobile robots with a fixed information exchange topology is presented.