A variable gain model-independent algorithm for rendezvous of Euler-Lagrange agents on directed networks

Mengbin Ye; Brian D.O. Anderson; Changbin Yu

doi:10.1109/AUCC.2016.7868179

A variable gain model-independent algorithm for rendezvous of Euler-Lagrange agents on directed networks

Mengbin Ye, Brian D.O. Anderson, Changbin Yu

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

1 Citation (Scopus)

Abstract

A variable-gain model-independent control law is proposed to solve the problem of rendezvous to a leader for a directed network of Euler-Lagrange agents. A sufficiency condition for stability is developed, requiring centralised design of the two control gains. Compared to existing results which use constant-gain model-independent controllers for directed networks, our work has two key differences. Firstly, the damping term may begin at zero, and increases only if rendezvous has not been achieved. Constant-gain controllers use conservative gain values which negatively impact convergence speed. Secondly, we introduce a novel method of analysing the Lyapunov derivative, which provides useful and unique insight into analysis of variable-gain controllers for multi-agent systems. Simulations are provided to show the effectiveness of the controller.

Original language	English
Title of host publication	2016 Australian Control Conference, AuCC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	153-158
Number of pages	6
ISBN (Electronic)	9781922107909
DOIs	https://doi.org/10.1109/AUCC.2016.7868179
Publication status	Published - 1 Mar 2017
Event	2016 Australian Control Conference, AuCC 2016 - Newcastle, Australia Duration: 3 Nov 2016 → 4 Nov 2016

Publication series

Name	2016 Australian Control Conference, AuCC 2016

Conference

Conference	2016 Australian Control Conference, AuCC 2016
Country/Territory	Australia
City	Newcastle
Period	3/11/16 → 4/11/16

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10.1109/AUCC.2016.7868179

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Ye, M., Anderson, B. D. O., & Yu, C. (2017). A variable gain model-independent algorithm for rendezvous of Euler-Lagrange agents on directed networks. In 2016 Australian Control Conference, AuCC 2016 (pp. 153-158). Article 7868179 (2016 Australian Control Conference, AuCC 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AUCC.2016.7868179

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title = "A variable gain model-independent algorithm for rendezvous of Euler-Lagrange agents on directed networks",

abstract = "A variable-gain model-independent control law is proposed to solve the problem of rendezvous to a leader for a directed network of Euler-Lagrange agents. A sufficiency condition for stability is developed, requiring centralised design of the two control gains. Compared to existing results which use constant-gain model-independent controllers for directed networks, our work has two key differences. Firstly, the damping term may begin at zero, and increases only if rendezvous has not been achieved. Constant-gain controllers use conservative gain values which negatively impact convergence speed. Secondly, we introduce a novel method of analysing the Lyapunov derivative, which provides useful and unique insight into analysis of variable-gain controllers for multi-agent systems. Simulations are provided to show the effectiveness of the controller.",

author = "Mengbin Ye and Anderson, {Brian D.O.} and Changbin Yu",

note = "Publisher Copyright: {\textcopyright} 2016 Engineers Australia.; 2016 Australian Control Conference, AuCC 2016 ; Conference date: 03-11-2016 Through 04-11-2016",

year = "2017",

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doi = "10.1109/AUCC.2016.7868179",

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Ye, M, Anderson, BDO & Yu, C 2017, A variable gain model-independent algorithm for rendezvous of Euler-Lagrange agents on directed networks. in 2016 Australian Control Conference, AuCC 2016., 7868179, 2016 Australian Control Conference, AuCC 2016, Institute of Electrical and Electronics Engineers Inc., pp. 153-158, 2016 Australian Control Conference, AuCC 2016, Newcastle, Australia, 3/11/16. https://doi.org/10.1109/AUCC.2016.7868179

A variable gain model-independent algorithm for rendezvous of Euler-Lagrange agents on directed networks. / Ye, Mengbin; Anderson, Brian D.O.; Yu, Changbin.
2016 Australian Control Conference, AuCC 2016. Institute of Electrical and Electronics Engineers Inc., 2017. p. 153-158 7868179 (2016 Australian Control Conference, AuCC 2016).

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

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N2 - A variable-gain model-independent control law is proposed to solve the problem of rendezvous to a leader for a directed network of Euler-Lagrange agents. A sufficiency condition for stability is developed, requiring centralised design of the two control gains. Compared to existing results which use constant-gain model-independent controllers for directed networks, our work has two key differences. Firstly, the damping term may begin at zero, and increases only if rendezvous has not been achieved. Constant-gain controllers use conservative gain values which negatively impact convergence speed. Secondly, we introduce a novel method of analysing the Lyapunov derivative, which provides useful and unique insight into analysis of variable-gain controllers for multi-agent systems. Simulations are provided to show the effectiveness of the controller.

AB - A variable-gain model-independent control law is proposed to solve the problem of rendezvous to a leader for a directed network of Euler-Lagrange agents. A sufficiency condition for stability is developed, requiring centralised design of the two control gains. Compared to existing results which use constant-gain model-independent controllers for directed networks, our work has two key differences. Firstly, the damping term may begin at zero, and increases only if rendezvous has not been achieved. Constant-gain controllers use conservative gain values which negatively impact convergence speed. Secondly, we introduce a novel method of analysing the Lyapunov derivative, which provides useful and unique insight into analysis of variable-gain controllers for multi-agent systems. Simulations are provided to show the effectiveness of the controller.

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BT - 2016 Australian Control Conference, AuCC 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 Australian Control Conference, AuCC 2016

Y2 - 3 November 2016 through 4 November 2016

ER -

A variable gain model-independent algorithm for rendezvous of Euler-Lagrange agents on directed networks

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