Backstepping leaderless dynamic consensus among nonlinear systems over directed networks: application to attitude synchronisation control - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2023

Backstepping leaderless dynamic consensus among nonlinear systems over directed networks: application to attitude synchronisation control

Maitreyee Dutta
  • Fonction : Auteur
  • PersonId : 1156366
Antonio Loria
Elena Panteley
Sukumar Srikant
  • Fonction : Auteur
  • PersonId : 990433

Résumé

We present a distributed consensus controller for multi-agent homogeneous nonlinear systems over directed networks. The systems are assumed to be of second order and the control design relies on a standard backstepping approach. In that light, the control design also hinges on the ability to construct a strict Lyapunov function for the multi-agent nonlinear system interconnected over a directed graph for which the only assumption is that it is connected. That is, that there exists a directed spanning tree, but there is no requirement of conservative conditions such as strong or balanced connectivity. To construct a strict Lyapunov function, we use a generalised Lyapunov equation for the directed-graph Laplacian matrix, which characterises the spanning-tree-existence condition. Then, we establish exponential stability of the consensus manifold. In addition, we implement our dynamic consensus controller on a multiagent satellite system in the context of attitude synchronisation and demonstrate its efficacy in numerical simulations.

Domaines

Automatique
Fichier principal
Vignette du fichier
v1_ifac_bkstp.pdf (608.44 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-03869850 , version 1 (16-01-2023)

Licence

Paternité

Identifiants

  • HAL Id : hal-03869850 , version 1

Citer

Maitreyee Dutta, Antonio Loria, Elena Panteley, Sukumar Srikant. Backstepping leaderless dynamic consensus among nonlinear systems over directed networks: application to attitude synchronisation control. 22nd World Congress of the International Federation of Automatic Control (IFAC 2023), Jul 2023, Yokohama, Japan. IFAC-PapersOnLine, vol. 56, no. 2, pp. 1192-1197. ⟨hal-03869850⟩
71 Consultations
48 Téléchargements

Partager

Gmail Facebook X LinkedIn More