Showing papers in "Automatica in 2008"

TL;DR: A sampled-data networked control system with simultaneous consideration of network induced delays, data packet dropouts and measurement quantization is modeled as a nonlinear time-delay system with two successive delay components in the state and the problem of network-based H"~ control is solved accordingly.

TL;DR: In this article, a leader-follower problem for a multi-agent system with a switching interconnection topology is considered, where the second-order follower agents follow the leader.

TL;DR: It is proved that the proposed design method is able to guarantee semi-global uniform ultimate boundedness of all signals in the closed-loop system, with arbitrary small tracking error by appropriately choosing design constants.

TL;DR: In this article, a necessary and sufficient condition for stability of switched systems is given in terms of multiple generalized Lyapunov-like functions, which enables derivation of improved stability tests, an L"2-gain characterization and a design method for stabilizing switching laws.

TL;DR: A peculiar characteristic of the proposed formation control strategy is that the follower position is not rigidly fixed with respect to the leader but varies in proper circle arcs centered in the leader reference frame.

TL;DR: A simply approximate formula for estimating the detailed number of pinning nodes and the magnitude of the coupling strength for a given general complex dynamical network is provided.

TL;DR: A set of Lyapunov-based sufficient conditions for establishing input-to-state stability (ISS) and integral-ISS for impulsive systems, i.e., dynamical systems that evolve according to ordinary differential equations most of the time, but occasionally exhibit discontinuities.

TL;DR: This paper identifies a class of smooth functions for which one can synthesize in a systematic way distributed algorithms that achieve consensus, applies this result to the family of weighted power mean functions, and characterize the exponential convergence properties of the resulting algorithms.

TL;DR: A sliding mode control approach to stabilize a class of underactuated systems which are in cascaded form and its insensitivity to the model errors, parametric uncertainties and other disturbances and its ability to globally stabilize the system are two advantages of the sliding mode controller.

TL;DR: In this work, probabilistic reachability over a finite horizon is investigated for a class of discrete time stochastic hybrid systems with control inputs and it is revealed that it is amenable to two complementary interpretations, leading to dual algorithms for reachability computations.

TL;DR: A novel model predictive control for constrained (non-square) linear systems to track piecewise constant references is presented, which ensures constraint satisfaction and asymptotic evolution of the system to any target which is an admissible steady-state.

TL;DR: In this paper, an on-line sliding mode control allocation scheme for fault tolerant control is proposed, where the effectiveness level of the actuators is used to redistribute the control signals to the remaining actuators when a fault or failure occurs.

TL;DR: In this article, the authors studied the average consensus problem for undirected networks of dynamic agents having communication delays and provided sufficient conditions for the existence of average consensus under bounded communication delays.

TL;DR: This paper aims at designing a full-order filter such that, for all admissible uncertainties, nonlinearities and time delays, the dynamics of the filtering error is guaranteed to be robustly asymptotically stable in the mean square, while achieving the prescribed H"~ disturbance rejection attenuation level.

TL;DR: A new approach to the problems of analysis and synthesis for quantized feedback control systems with logarithmic quantizers, leading to less conservative results, which is shown both theoretically and through numerical examples.

TL;DR: A novel adaptive coordination architecture is proposed which uses state feedback to define a new passive output for the master and slave robots containing both position and velocity information and which guarantees ultimate boundedness of the master/slave trajectories on contact with a passive environment.

TL;DR: Sufficient conditions for the existence of a desired filter are established in terms of linear matrix inequalities (LMIs), and the corresponding filter design is cast into a convex optimization problem which can be efficiently solved by using commercially available numerical software.

TL;DR: A new switched linear system model is proposed to describe the networked control system (NCS) with both network-induced delay and packet-dropout, and a sufficient condition is derived for the exponential stability of the closed-loop NCS.

TL;DR: The optimal linear estimators including filter, predictor and smoother are developed via an innovation analysis approach based on a packet dropout model and computed recursively in terms of a Riccati difference equation of dimension equal to the order of the system state plus that of the measurement output.

TL;DR: It is shown that time-invariant communication networks with circulant symmetries yield slow convergence if the amount of information exchanged by the agents does not scale well with their number, and that randomly time-varying communication networks allow very fast convergence rates.

TL;DR: It is shown that every incrementally globally asymptotically stable nonlinear control system is approximately equivalent (bisimilar) to a symbolic model, and the approximation error is a design parameter in the construction of the symbolic model.

TL;DR: Two sporadic control schemes for first-order linear stochastic systems are explored and it is shown that sporadic control can give better performance than periodic control in terms of both reduced process state variance and reduced control action frequency.

TL;DR: It is shown that the coupled harmonic oscillators can be synchronized under mild network connectivity conditions and the theoretical result is applied to synchronized motion coordination of multi-agent systems as a proof of concept.

TL;DR: This work presents a discrete-time adaptive iterative learning control scheme to deal with systems with time-varying parametric uncertainties and can incorporate a Recursive Least Squares algorithm, hence the learning gain can be tuned iteratively along the learning axis and pointwisely along the time axis.

TL;DR: A thermodynamic framework for addressing consensus problems for nonlinear multiagent dynamical systems with fixed and switching topologies is developed and distributed nonlinear static and dynamic controller architectures for multiagent coordination are presented.

TL;DR: This work outlines applications in system theory (approximate realization, model reduction, output error, and errors-in-variables identification), signal processing, signal processing (harmonic retrieval, sum-of-damped exponentials, and finite impulse response modeling), and computer algebra (Approximate common divisor).

TL;DR: This paper provides a class of effective consensus protocols that are built on repeatedly using the same state information at two time-steps and shows that those protocols can solve consensus problems under milder conditions than the popular consensus algorithm proposed by Jadbabaie et al.

TL;DR: The on-line sliding mode control allocation scheme shows that faults and even certain total actuator failures can be handled directly without reconfiguring the controller.

TL;DR: Lyapunov based results for verifying L"2 and exponential stability of reset systems are presented and can be easily modified to cover L"p stability for arbitrary [email protected]?[1,~].

TL;DR: A generalized least-squares approach that consists in minimizing a quadratic estimation cost function defined on a recent batch of inputs and outputs according to a sliding-window strategy is used, and the existence of bounding sequences on the estimation error is proved.