Conference Program of WCICA 2012

WCICA 2012
Book of Abstracts: Sunday Sessions
Zhang, Jingmei
Southeast Univ.
In this paper, the problem of global asymptotic stability of a class of
uncertain nonlinear system with input constraint is considered. And by
using the development of the adding a power integrator technique, an
auxiliary design system is used to analysis the effect of the input constraint.
In addition, physics constraints of virtual control laws are also
considered when pi¿1. Finally, simulations are listed to illustrate the
effectiveness of the proposed result.
◮ SuB01-6 17:30–17:50
On Non-Lyapunov Stability of Linear Discrete Time Delay Systems:
LMIs Approach, pp.1535–1540
Debeljkovic, Dragutin Univ. of Belgrade, School of Mechanical
Engineering
Stojanovic, Sreten
Dimitrijevic, Nebojsa
Popov, Dejan
Univ. of Nis, Faculty of Tech.
Univ. of Belgrade, Faculty of Mechanical Eng
Univ. of Belgrade, School of Mechanical
Engineering
This paper gives new contributions to the area of non-Lyapunov (finite
time stability, technical stability, practical stability, final stability) for the
particular class of linear discrete time delay systems. The idea of attractive
practical stability is introduced for the first time. Moreover, based
on the matrix inequalities and Lyapunov-like functions, some new sufficient
conditions under which the linear discrete time delay system is
finite time stable are given. Finally, an example is employed to verify
the efficiency of the proposed Theorems as well as to show that results
derived upon LMIs are less restrictive than those based on a classical
approach. To the best knowledge of authors, such results have not
been reported yet.
SuB02 15:50–17:50 Room 203B
Multi-Agent Systems (II)
Chair: Thunberg, Johan
Co-Chair: Wang, Hanlei
Optimization & Sys. theory
Beijing Inst. of Control Engineering
◮ SuB02-1 15:50–16:10
Passivity Based Synchronization of Multiple Robotic Agents with Uncertain
Kinematics and Dynamics, pp.846–851
Wang, Hanlei
Beijing Inst. of Control Engineering
This paper studies the synchronization problem of networked robotic
systems with uncertain kinematics and dynamics. Passivity of the
robotic agents is established through adaptation to both the kinematic
and dynamic uncertainties. This input-output passivation framework
lays the foundation for the inter-coupling inclusion between the robotic
agents, even in the case of non-uniform constant communication
delays. An adaptive scheme is proposed to achieve controlled synchronization
of the networked robotic systems on strongly connected
graphs. With a weighted Lyapunov-Krasovskii function, we show that
task-space synchronization errors of the networked robotic agents converge
to zero. Simulation results are provided to demonstrate the performance
of the proposed control schemes.
◮ SuB02-2 16:10–16:30
Exponential synchronization of complex dynamical systems with delay
and derivative coupling via impulse, pp.875–880
Zhu, Yakun
Luo, Xiaoyuan
Li, Shaobao
Guan, Xinping
Yanshan Univ.
Yanshan Univ.
Yanshan Univ.
Yanshan Univ.
In this paper, the problem of impulsive synchronization of a kind of generalized
complex dynamical systems with delay and derivative coupling
is investigated. Both the communication delay and derivative coupling,
which provide more information about the complex dynamical systems,
are considered. Based on a new Lyapunov function and impulsive
stability technique that is used to play an important role for the synchronization
problem in our research, some new delay-dependent synchronization
criteria are proposed. Furthermore, one can find that the
considered complex systems are suitable to investigate and simulate
realistic complex systems such as networked multi-agent systems. And
numerical simulations for two networked systems with six agents are
shown to illustrate the effectiveness of our results.
◮ SuB02-3 16:30–16:50
Consensus Control of Networked Nonlinear Systems, pp.914–919
Peng, Junmin
Ye, Xudong
Zhou, Wei
Zhejiang Univ.
Zhejiang Univ.
Zhejiang Univ.
In this paper, we proposed a consensus control for networked nonlinear
systems with disturbance and uncertain parameter. The proposed algorithm
is combined with adaptive compensation of unknown disturbance
and output feedback control to achieve consensus, without knowing the
disturbance’s amplitude frequency and phase, as long as the number
of different frequencies is known. From the theorem presented in
the paper, we can see the topology condition for achieving consensus
is the same as networked linear systems. A second-order integrated
example is used to illustrate the algorithm. The design procedure is
divided into two step: in step I, we design a consensus control law for
networked virtual agents by Lemma 1; in step II, we use output feedback
control with complete compensation of unknown disturbance for
adaptive tracking the virtual agents.
◮ SuB02-4 16:50–17:10
Distributed Attitude Synchronization Control of Multi-Agent Systems
with Time-Varying Topologies, pp.946–951
Song, Wenjun Acad. of Mathematics & Sys. Sci., Chinese Acad.
of Sci.
Thunberg, Johan
Hong, Yiguang
Hu, Xiaoming
Optimization & Sys. theory
Chinese Acad. of Sci.
Royal Inst. of Tech.
This paper addresses the attitude synchronization problem of multiple
rigid body agents in SO(3) with directed and switching interconnection
topologies. Using the axis-angle representation of the orientation, a
distributed controller based on differences between the orientations of
agents in a global frame is proposed. In the case of the balanced interconnection
graph, the attitude synchronization is achieved with the
wellknown mild assumption (that is, uniform joint strong connection).
To demonstrate the effectiveness of the proposed control scheme, an
illustrative example is provided.
◮ SuB02-5 17:10–17:30
Convergence Analysis for Quantized Consensus of Multi-agent Systems
with Directed Topologies, pp.1201–1206
Li, Dequan Anhui Univ. of Sci. & Tech.; Shanghai Jiaotong
Univ.
Liu, Qipeng
Wang, Xiaofan
Shanghai Jiao Tong Univ.
Shanghai Jiaotong Univ.
The available works about quantized average consensus require the
update matrices being doubly stochastic, which amounts to confining
agents to evolve on balanced digraphs with quantized information communication.
By dropping the typical double stochasticity requirement
for the update matrix, we revisit an existing average consensus protocol
based on logarithmic quantization scheme and study the quantized
consensus problem for general directed networks. An upper bound for
the quantization precision parameter is derived to design the suitable
logarithmic quantizer, then based on matrix transformation and Lyapunov
technique, we provide testable condition under which the weighted
average consensus can be achieved with the proposed quantized
protocol. The proposed quantized protocol features little communication
protocol overhead and suits well for directed digital networks.
◮ SuB02-6 17:30–17:50
Distributed Attitude Synchronization Control of Multi-Agent Systems
with Directed Topologies, pp.958–963
Thunberg, Johan
Song, Wenjun
Optimization & Sys. theory
Acad. of Mathematics & Sys. Sci., Chinese Acad.
of Sci.
215