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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2404.16412 |
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| _version_ | 1866917650116902912 |
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| author | Ye, Hefu Wen, Changyun Song, Yongduan |
| author_facet | Ye, Hefu Wen, Changyun Song, Yongduan |
| contents | In this paper, we address the problem of prescribed-time leader-following consensus of heterogeneous multi-agent systems (MASs) in the presence of unknown sensor sensitivity. Under a connected undirected topology, we propose a time-varying dual observer/controller design framework that makes use of regular local and inaccurate feedback to achieve consensus tracking within a prescribed time. In particular, the developed analysis framework is applicable to MASs equipped with sensors of different sensitivities. One of the design innovations involves constructing a distributed matrix pencil formulation based on worst-case sensors, yielding control parameters with sufficient robustness yet relatively low conservatism. Another novelty is the construction of the control gains, which consists of the product of a proportional coefficient obtained from the matrix pencil formulation and a classic time-varying function that grows to infinity or a novel bounded time-varying function. Furthermore, it is possible to extend the prescribed-time distributed protocol to infinite time domain by introducing the bounded time-varying gain technique without sacrificing the ultimate control accuracy, and the corresponding technical proof is comprehensive. The effectiveness of the method is demonstrated through a group of 5 single-link robot manipulators. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_16412 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Distributed Matrix Pencil Formulations for Prescribed-Time Leader-Following Consensus of MASs with Unknown Sensor Sensitivity Ye, Hefu Wen, Changyun Song, Yongduan Systems and Control In this paper, we address the problem of prescribed-time leader-following consensus of heterogeneous multi-agent systems (MASs) in the presence of unknown sensor sensitivity. Under a connected undirected topology, we propose a time-varying dual observer/controller design framework that makes use of regular local and inaccurate feedback to achieve consensus tracking within a prescribed time. In particular, the developed analysis framework is applicable to MASs equipped with sensors of different sensitivities. One of the design innovations involves constructing a distributed matrix pencil formulation based on worst-case sensors, yielding control parameters with sufficient robustness yet relatively low conservatism. Another novelty is the construction of the control gains, which consists of the product of a proportional coefficient obtained from the matrix pencil formulation and a classic time-varying function that grows to infinity or a novel bounded time-varying function. Furthermore, it is possible to extend the prescribed-time distributed protocol to infinite time domain by introducing the bounded time-varying gain technique without sacrificing the ultimate control accuracy, and the corresponding technical proof is comprehensive. The effectiveness of the method is demonstrated through a group of 5 single-link robot manipulators. |
| title | Distributed Matrix Pencil Formulations for Prescribed-Time Leader-Following Consensus of MASs with Unknown Sensor Sensitivity |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2404.16412 |