Cascade structure predictive observer design for consensus control with applications to UAVs formation flying

Jianan Wang; Zhengyang Zhou; Chunyan Wang; Zhengtao Ding

doi:10.1016/j.automatica.2020.109200

Cascade structure predictive observer design for consensus control with applications to UAVs formation flying

Jianan Wang
, Zhengyang Zhou
, Chunyan Wang^*
, Zhengtao Ding

^*Corresponding author for this work

School of Aerospace Engineering

Research output: Contribution to journal › Article › peer-review

80 Citations (Scopus)

Abstract

This paper investigates the long input delay problem in consensus control of multi-agent systems with directed graph. First, cascade structure predictive observers are designed to obtain the future state for each agent. Then, adaptive technique based consensus controllers are designed for the agents to make sure that any global information is not needed. Lyapunov–Krasovskii functionals are used for the delay upper bound analysis and sufficient conditions are derived to guarantee that the consensus errors converge to zero asymptotically. Finally, the proposed controllers are verified through numerical simulation and UAVs formation flying tests.

Original language	English
Article number	109200
Journal	Automatica
Volume	121
DOIs	https://doi.org/10.1016/j.automatica.2020.109200
Publication status	Published - Nov 2020

Keywords

Cascade predictive observer
Consensus control
Long input delay
Multi-agent systems

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10.1016/j.automatica.2020.109200

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title = "Cascade structure predictive observer design for consensus control with applications to UAVs formation flying",

abstract = "This paper investigates the long input delay problem in consensus control of multi-agent systems with directed graph. First, cascade structure predictive observers are designed to obtain the future state for each agent. Then, adaptive technique based consensus controllers are designed for the agents to make sure that any global information is not needed. Lyapunov–Krasovskii functionals are used for the delay upper bound analysis and sufficient conditions are derived to guarantee that the consensus errors converge to zero asymptotically. Finally, the proposed controllers are verified through numerical simulation and UAVs formation flying tests.",

keywords = "Cascade predictive observer, Consensus control, Long input delay, Multi-agent systems",

author = "Jianan Wang and Zhengyang Zhou and Chunyan Wang and Zhengtao Ding",

note = "Publisher Copyright: {\textcopyright} 2020 Elsevier Ltd",

year = "2020",

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doi = "10.1016/j.automatica.2020.109200",

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T1 - Cascade structure predictive observer design for consensus control with applications to UAVs formation flying

AU - Wang, Jianan

AU - Zhou, Zhengyang

AU - Wang, Chunyan

AU - Ding, Zhengtao

PY - 2020/11

Y1 - 2020/11

N2 - This paper investigates the long input delay problem in consensus control of multi-agent systems with directed graph. First, cascade structure predictive observers are designed to obtain the future state for each agent. Then, adaptive technique based consensus controllers are designed for the agents to make sure that any global information is not needed. Lyapunov–Krasovskii functionals are used for the delay upper bound analysis and sufficient conditions are derived to guarantee that the consensus errors converge to zero asymptotically. Finally, the proposed controllers are verified through numerical simulation and UAVs formation flying tests.

AB - This paper investigates the long input delay problem in consensus control of multi-agent systems with directed graph. First, cascade structure predictive observers are designed to obtain the future state for each agent. Then, adaptive technique based consensus controllers are designed for the agents to make sure that any global information is not needed. Lyapunov–Krasovskii functionals are used for the delay upper bound analysis and sufficient conditions are derived to guarantee that the consensus errors converge to zero asymptotically. Finally, the proposed controllers are verified through numerical simulation and UAVs formation flying tests.

KW - Cascade predictive observer

KW - Consensus control

KW - Long input delay

KW - Multi-agent systems

UR - https://www.scopus.com/pages/publications/85089517433

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DO - 10.1016/j.automatica.2020.109200

M3 - Article

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SN - 0005-1098

VL - 121

JO - Automatica

JF - Automatica

M1 - 109200

ER -

Cascade structure predictive observer design for consensus control with applications to UAVs formation flying

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