Robust second-order tracking of multi-vehicle systems without velocity measurements on directed communication topologies

Bo Zhu; Zhan Li; Hugh Hong Tao Liu; Huijun Gao

doi:10.1109/ACC.2014.6858996

Robust second-order tracking of multi-vehicle systems without velocity measurements on directed communication topologies

Bo Zhu
, Zhan Li
, Hugh Hong Tao Liu
, Huijun Gao

University of Electronic Science and Technology of China
University of Toronto
School of Astronautics, Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

21 Scopus citations

Abstract

Second-order consensus tracking problem of uncertain multi-vehicle systems without velocity measurements is studied on the directed communication topologies. We first construct two dynamic controllers via a passivity-based approach for the nominal vehicle model, which are linear and bounded (nonlinear) respectively. We then develop conditions on linear uncertainty and disturbance estimators (UDEs) for the situation having neither velocity measurements nor their asymptotic estimates. Finally, a lowest-order, improved UDE is combined with the two controllers, yielding two robust controllers for the disturbed vehicle model. Numerical simulation cases are presented to show the effectiveness of the controllers.

Original language	English
Title of host publication	2014 American Control Conference, ACC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5414-5419
Number of pages	6
ISBN (Print)	9781479932726
DOIs	https://doi.org/10.1109/ACC.2014.6858996
State	Published - 2014
Externally published	Yes
Event	2014 American Control Conference, ACC 2014 - Portland, OR, United States Duration: 4 Jun 2014 → 6 Jun 2014

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Conference

Conference	2014 American Control Conference, ACC 2014
Country/Territory	United States
City	Portland, OR
Period	4/06/14 → 6/06/14

Keywords

Multivehicle systems
Output feedback
Robust control

Access to Document

10.1109/ACC.2014.6858996

Cite this

Zhu, B., Li, Z., Liu, H. H. T., & Gao, H. (2014). Robust second-order tracking of multi-vehicle systems without velocity measurements on directed communication topologies. In 2014 American Control Conference, ACC 2014 (pp. 5414-5419). Article 6858996 (Proceedings of the American Control Conference). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2014.6858996

@inproceedings{6330c5c570884d2d9820a8e08cfd6a6d,

title = "Robust second-order tracking of multi-vehicle systems without velocity measurements on directed communication topologies",

abstract = "Second-order consensus tracking problem of uncertain multi-vehicle systems without velocity measurements is studied on the directed communication topologies. We first construct two dynamic controllers via a passivity-based approach for the nominal vehicle model, which are linear and bounded (nonlinear) respectively. We then develop conditions on linear uncertainty and disturbance estimators (UDEs) for the situation having neither velocity measurements nor their asymptotic estimates. Finally, a lowest-order, improved UDE is combined with the two controllers, yielding two robust controllers for the disturbed vehicle model. Numerical simulation cases are presented to show the effectiveness of the controllers.",

keywords = "Multivehicle systems, Output feedback, Robust control",

author = "Bo Zhu and Zhan Li and Liu, \{Hugh Hong Tao\} and Huijun Gao",

year = "2014",

doi = "10.1109/ACC.2014.6858996",

language = "英语",

isbn = "9781479932726",

series = "Proceedings of the American Control Conference",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "5414--5419",

booktitle = "2014 American Control Conference, ACC 2014",

address = "美国",

note = "2014 American Control Conference, ACC 2014 ; Conference date: 04-06-2014 Through 06-06-2014",

}

Zhu, B, Li, Z, Liu, HHT & Gao, H 2014, Robust second-order tracking of multi-vehicle systems without velocity measurements on directed communication topologies. in 2014 American Control Conference, ACC 2014., 6858996, Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 5414-5419, 2014 American Control Conference, ACC 2014, Portland, OR, United States, 4/06/14. https://doi.org/10.1109/ACC.2014.6858996

Robust second-order tracking of multi-vehicle systems without velocity measurements on directed communication topologies. / Zhu, Bo; Li, Zhan; Liu, Hugh Hong Tao et al.
2014 American Control Conference, ACC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 5414-5419 6858996 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Robust second-order tracking of multi-vehicle systems without velocity measurements on directed communication topologies

AU - Zhu, Bo

AU - Li, Zhan

AU - Liu, Hugh Hong Tao

AU - Gao, Huijun

PY - 2014

Y1 - 2014

N2 - Second-order consensus tracking problem of uncertain multi-vehicle systems without velocity measurements is studied on the directed communication topologies. We first construct two dynamic controllers via a passivity-based approach for the nominal vehicle model, which are linear and bounded (nonlinear) respectively. We then develop conditions on linear uncertainty and disturbance estimators (UDEs) for the situation having neither velocity measurements nor their asymptotic estimates. Finally, a lowest-order, improved UDE is combined with the two controllers, yielding two robust controllers for the disturbed vehicle model. Numerical simulation cases are presented to show the effectiveness of the controllers.

AB - Second-order consensus tracking problem of uncertain multi-vehicle systems without velocity measurements is studied on the directed communication topologies. We first construct two dynamic controllers via a passivity-based approach for the nominal vehicle model, which are linear and bounded (nonlinear) respectively. We then develop conditions on linear uncertainty and disturbance estimators (UDEs) for the situation having neither velocity measurements nor their asymptotic estimates. Finally, a lowest-order, improved UDE is combined with the two controllers, yielding two robust controllers for the disturbed vehicle model. Numerical simulation cases are presented to show the effectiveness of the controllers.

KW - Multivehicle systems

KW - Output feedback

KW - Robust control

UR - https://www.scopus.com/pages/publications/84905686855

U2 - 10.1109/ACC.2014.6858996

DO - 10.1109/ACC.2014.6858996

M3 - 会议稿件

AN - SCOPUS:84905686855

SN - 9781479932726

T3 - Proceedings of the American Control Conference

SP - 5414

EP - 5419

BT - 2014 American Control Conference, ACC 2014

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 American Control Conference, ACC 2014

Y2 - 4 June 2014 through 6 June 2014

ER -

Robust second-order tracking of multi-vehicle systems without velocity measurements on directed communication topologies

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Keywords

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