Output Feedback Consensus for Networked Heterogeneous Nonlinear Negative-Imaginary Systems with Free Body Motion

Autor:	Shi, Kanghong, Petersen, Ian R., Vladimirov, Igor G.
Rok vydání:	2020
Předmět:	Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	This paper provides a protocol to address the robust output feedback consensus problem for networked heterogeneous nonlinear negative-imaginary (NI) systems with free body dynamics. We extend the definition of nonlinear NI systems to allow for systems with free body motion. A new stability result is developed for the interconnection of a nonlinear NI system and a nonlinear output strictly negative-imaginary (OSNI) system. Also, a class of networked nonlinear OSNI controllers is proposed to achieve output feedback consensus for heterogeneous networked nonlinear NI systems. We show that in this control framework, the system outputs converge to the same limit trajectory. This consensus protocol is illustrated by a numerical example. Comment: 8 pages, 7 figures. arXiv admin note: text overlap with arXiv:2006.13505
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2011.14610 Zobrazit plný text záznamu View this record from Arxiv