Search

Abstract In this paper, a novel robust control strategy based on disturbance-compensation-gain (DCG) construction approach is proposed for small-scale unmanned helicopters in the presence of high-order mismatched disturbances. The overall control structure consists of two hierarchical layers. The inner-loop controller is to guarantee the stability of the unmanned helicopters subject to high-order mismatched disturbances. With the estimation of the disturbances and their successive derivatives via finite-time disturbance observer (FTDO), by properly designing some disturbance compensation gains, a novel robust controller is developed to remove the high-order mismatched disturbances from the output channels. The outer-loop controller is to produce flight commands for inner-loop system, as well as to track the reference trajectory, which is carried out with the dynamic inversion technique. The simulation results demonstrate that the unmanned helicopters are capable to perform flight missions autonomously with the proposed control strategy. [ABSTRACT FROM AUTHOR]

Abstract This paper addresses the problem of cluster lag consensus for first-order multi-agent systems which can be formulated as moving agents in a capacity-limited network. A distributed control protocol is developed based on local information, and the robustness of the protocol is analyzed by using tools of Frobenius norm, Lyapunov functional and matrix theory. It is shown that when the root agents of the clusters are influenced by the active leader and the intra-coupling among agents is stronger enough, the multi-agent system will reach cluster lag consensus. Moreover, cluster lag consensus for multi-agent systems with a time-varying communication topology and heterogeneous multi-agent systems with a directed topology are studied. Finally, the effectiveness of the proposed protocol is demonstrated by some numerical simulations. [ABSTRACT FROM AUTHOR]

Abstract In this paper, the problem of finite-horizon H ∞ state estimation is investigated for a class of discrete time-varying complex networks with multiplicative noises and random coupling strengths. The network nodes and estimators are connected via a constrained communication network which allows only one node to send measurement data at each transmission instant. The Round-Robin protocol is introduced to determine which node obtains the access to the network at certain transmission instant. The aim of the addressed problem is to design a set of time-varying estimator parameters such that the prescribed H ∞ performance is guaranteed over a finite horizon. By using the stochastic analysis approach and completing-the-square method, sufficient conditions are derived for the existence of the desired estimators in terms of the solution to backward recursive Riccati difference equations. Finally, a numerical example is provided to validate the feasibility and effectiveness of the proposed results. [ABSTRACT FROM AUTHOR]