Abstract
The role of the internal model principle is investigated in this paper for the coordination of relative-degree-one and relative-degree-two nonlinear systems. For relative-degree-one systems that are incrementally (output-feedback) passive, we propose internal-model-based distributed control laws which guarantee output synchronization to an invariant manifold driven by autonomous synchronized internal models. For relative-degree-two systems, we consider a different internal-model-based distributed control framework for solving a formation control problem where the agents have to track a reference signal available only to the leader agent. In both cases, the local controller is also able to reject the disturbance signals generated by a local exosystem.
| Original language | English |
|---|---|
| Pages (from-to) | 272-282 |
| Number of pages | 11 |
| Journal | IEEE Transactions on Control of Network Systems |
| Volume | 1 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - 1-Sept-2014 |
Keywords
- distributed control
- feedback
- invariance
- nonlinear control systems
- synchronisation
- agents
- autonomous synchronized internal models
- disturbance signals
- formation control problem
- internal model principle
- internal-model-based distributed control laws
- invariant manifold
- leader agent
- local controller
- local exosystem
- output synchronization
- output-feedback
- reference signal tracking
- relative-degree-one nonlinear systems
- relative-degree-two nonlinear systems
- Decentralized control
- Manifolds
- Mathematical model
- Nonlinear systems
- Observability
- Synchronization
- Cooperative control
- disturbance rejection
- nonlinear systems
- passivity
- synchronization