Skip to main content
SpringerLink
Log in

Distributed output feedback stationary consensus of multi-vehicle systems in unknown environments

  • Published:
Control Theory and Technology Aims and scope Submit manuscript

Abstract

In the traditional distributed consensus of multi-vehicle systems, vehicles agree on velocity and position using limited information exchange in their local neighborhoods. Recently, distributed leaderless stationary consensus has been proposed in which vehicles agree on a position and come to a stop. The proposed stationary consensus schemes are based on all vehicles’ access to their own absolute velocity measurements, and they do not guarantee this collective behavior in the presence of disturbances that persistently excite vehicles’ dynamics. On the other hand, traditional distributed disturbance rejection leaderless consensus algorithms may result in an uncontrolled increase in the speed of multi-vehicle system. In this paper, we propose a dynamic relative-output feedback leaderless stationary algorithm in which only a few vehicles have access to their absolute measurements. We systematically design the distributed algorithm by transforming this problem into a static feedback robust control design challenge for the low-order modified model of vehicles with fictitious modeling uncertainties. We further propose dynamic leader-follower stationary consensus algorithms for multi-vehicle systems with a static leader, and find closed-form solutions for the consensus gains based on design matrices and communication graph topology. Finally, we verify the feasibility of these ideas through simulation studies.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. D. Cruz, J. McClintock, B. Perteet, et al. Decentralized cooperative control. IEEE Control Systems Magazine, 2007, 27(3): 58–78.

    Article  MathSciNet  Google Scholar 

  2. L. Bento, R. Parafita, U. Nunes. Inter-vehicle sensor fusion for accurate vehicle localization supported by V2V and V2I communications. International Conference on Intelligent Transportation Systems, Anchorage: IEEE, 2012: 907–914.

    Google Scholar 

  3. R. Langari. Autonomous vehicles: a tutorial on research and development issues. American Control Conference, Seattle: IEEE, 2017: 4018–4022.

    Google Scholar 

  4. P. Seiler, A. Pant, J. Hedrick. Disturbance propagation in vehicle strings. IEEE Transactions on Automatic Control, 2004, 49(10): 1835–1842.

    Article  MathSciNet  MATH  Google Scholar 

  5. Y. Zhao, P. Minero, V. Gupta. On disturbance propagation in leader-follower systems with limited leader information. Automatica, 2014, 50(2): 591–598.

    Article  MathSciNet  MATH  Google Scholar 

  6. W. Ren, E. Atkins. Distributed multi-vehicle coordinated control via local information exchange. International Journal of Robust and Nonlinear Control, 2007, 17(10/11): 1002–1033.

    Article  MathSciNet  MATH  Google Scholar 

  7. J. Lawton, R. Beard, B. Young. A decentralized approach to formation maneuvers. IEEE Transactions on Robotics and Automation, 2003, 19(6): 933–941.

    Article  Google Scholar 

  8. R. Xue, G. Cai. Formation flight control of multi-UAV system with communication constraints. Journal of Aerospace Technology Management, 2016, 8(2): 203–210.

    Article  Google Scholar 

  9. A. Jadbabaie, J. Lin, S. Morse. Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Transactions on Automatic Control, 2003, 48(6): 988–1001.

    Article  MathSciNet  MATH  Google Scholar 

  10. T. Yucelen, E. Johnson. Control of multi-vehicle systems in the presence of uncertain dynamics. International Journal of Control, 2013, 86(9): 1540–1553.

    Article  MathSciNet  MATH  Google Scholar 

  11. W. Ren, R. Beard, E. Atkins. A survey of consensus problems in multi-agent coordination. American Control Conference, Portland: IEEE, 2005: 1859–1864.

    Google Scholar 

  12. W. Yu, G. Chen, C. Ming. Some necessary and sufficient conditions for second-order consensus in multi-agent systems. Automatica, 2010, 46(6): 1089–1095.

    Article  MathSciNet  MATH  Google Scholar 

  13. N. Huang, Z. Duan, G. Chen. Some necessary and sufficient conditions for consensus of second-order multi-agent systems with sampled position data. Automatica, 2016, 63: 148–155.

    Article  MathSciNet  MATH  Google Scholar 

  14. C.-L. Liu, F. Liu. Stationary consensus of heterogeneous multiagent systems with bounded communication delays. Automatica, 2011, 47(9): 2130–2133.

    Article  MathSciNet  MATH  Google Scholar 

  15. J. Qin, C. Yu, S. Hirche. Stationary consensus of asynchronous discrete-time second-order multi-agent systems under switching topology. IEEE Transactions on Industrial Informatics, 2012, 8(4): 986–994.

    Article  Google Scholar 

  16. Y. Feng, S. Xu, F. Lewis, B. Zhang. Consensus of heterogeneous first- and second-order multi-agent systems with directed communication topologies. International Journal of Robust and Nonlinear Control, 2015, 25(3): 362–375.

    Article  MathSciNet  MATH  Google Scholar 

  17. Y. Pei, J. Sun. Necessary and sufficient conditions of stationary average consensus for second-order multi-agent systems. International Journal of Systems Science, 2016, 47(15): 3631–3636.

    Article  MathSciNet  MATH  Google Scholar 

  18. C. Gohrle, A. Schindler, A. Wagner, et al. Road profile estimation and preview control for low-bandwidth active suspension systems. IEEE/ASME Transactions on Mechatronics, 2015, 20(5): 2299–2310.

    Article  Google Scholar 

  19. I. Youn, M. Khan, N. Uddin, et al. Road disturbance estimation for the optimal preview control of an active suspension system based on tracked vehicle model. International Journal of Automotive Technology, 2017, 18(2): 307–316.

    Article  Google Scholar 

  20. A. Cho, S. Kim, C. Kee. Wind estimation and airspeed calibration using a UAV with a single-antenna GPS receiver and pitot tube. IEEE Transactions on Aerospace and Electronic Systems, 2011, 47(1): 109–117.

    Article  Google Scholar 

  21. B. Arain, F. Kendoul. Real-time wind speed estimation and compensation for improved flight. IEEE Transactions on Aerospace and Electronic Systems, 2014, 50(2): 1599–1606.

    Article  Google Scholar 

  22. H. Shen, N. Li, H. Griffiths, et al. Tracking control of a small unmanned air vehicle with airflow awareness. American Control Conference, Seattle: IEEE, 2017: 4153–4158.

    Google Scholar 

  23. T. Yucelen, M. Egerstedt. Control of multiagent systems under persistent disturbance. American Control Conference, Montreal: IEEE, 2012: 5264–5269.

    Google Scholar 

  24. M. Anderson, D. Dimarogonas, H. Sandberg, et al. Distributed control of networked dynamical systems: static feedback integral action and consensus. IEEE Transactions on Automatic Control, 2014, 59(7): 1750–1764.

    Article  MathSciNet  MATH  Google Scholar 

  25. W. Cao, W. Zhang, W. Ren. Leader-follower consensus of linear multi-agent systems with unknown external disturbance. Systems & Control Letters, 2015, 82: 64–70.

    Article  MathSciNet  MATH  Google Scholar 

  26. V. Rezaei, M. Stefanovic. Distributed leaderless and leaderfollower consensus of linear multiagent systems under persistent disturbances. Mediterranean Conference on Control and Automation, Athens, Greece: IEEE, 2016: 386–391.

    Google Scholar 

  27. R. Horn, C. Johnson, Matrix Analysis. Cambridge: Cambridge University Press, 2013.

    MATH  Google Scholar 

  28. M. Mesbahi, M. Egerstedt. Graph Theoretic Methods in Multiagent Networks. Princeton: Princeton University Press, 2010.

    Book  MATH  Google Scholar 

  29. W. Ni, D. Cheng. Leader-following consensus of multi-agent systems under fixed and switching topologies. Systems & Control Letters, 2010, 59(3/4): 209–217.

    Article  MathSciNet  MATH  Google Scholar 

  30. S.-E. Tuna. LQR-based coupling gain for synchronization of linear systems. arXiv, 2008: arXiv:0801.3390.

    Google Scholar 

  31. H. Zhang, F. Lewis, A. Das. Optimal design for synchronization of cooperative systems: state feedback, observer and output feedback. IEEE Transactions on Automatic Control, 2011, 56(8): 1948–1952.

    Article  MathSciNet  MATH  Google Scholar 

  32. Z. Li, Z. Duan, G. Chen, et al. Consensus of multiagent systems and synchronization of complex networks: a unified viewpoint. IEEE Transactions on Circuits and Systems I: Regular Papers, 2010, 57(1): 213–224.

    Article  MathSciNet  Google Scholar 

  33. V. Rezaei, M. Stefanovic. Distributed decoupling of partiallyunknown interconnected linear multiagent systems: state and output feedback approaches. IFAC-PapersOnLine, 2017, 50(1): 1766–1771.

    Article  Google Scholar 

  34. D. Kirk. Optimal Control Theory: An Introduction. Englewood Cliffs: Prentice Hall, 1970.

    Google Scholar 

  35. H. Khalil. Nonlinear Control. Englewood Cliffs: Prentice Hall, 2014.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Electrical and Computer Engineering, University of Denver, Denver, CO, 80208, U.S.A.

    Vahid Rezaei & Margareta Stefanovic

Authors
  1. Vahid Rezaei
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Margareta Stefanovic
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Margareta Stefanovic.

Additional information

Vahid REZAEI is with the Department of Electrical and Computer Enginering at the University of Denver, CO, U.S.A.

Margareta STEFANOVIC received her Ph.D. degree in Electrical Engineering from the University of Southern California. She is currently an associate professor at the University of Denver. Her research interests include robust adaptive control of uncertain systems, and distributed control in multi-agent systems. She is an Editor-at-Large for Journal of Intelligent and Robotic Systems, and an Associate Editor of ISA Transactions (flagship journal of International Society of Automation). She is a Senior Member of the Institute of Electrical and Electronics Engineers (IEEE).

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Rezaei, V., Stefanovic, M. Distributed output feedback stationary consensus of multi-vehicle systems in unknown environments. Control Theory Technol. 16, 93–109 (2018). https://doi.org/10.1007/s11768-018-8015-3

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11768-018-8015-3

Keywords

Search

Navigation