Output synchronization of nonlinear systems with relative degree one. (English) Zbl 1201.93060
Blondel, Vincent D. (ed.) et al., Recent advances in learning and control. Festschrift for Mathukumalli Vidyasagar on the occasion of his sixtieth birthday. London: Springer (ISBN 978-1-84800-154-1/pbk). Lecture Notes in Control and Information Sciences 371, 51-64 (2008).
Summary: We extend our earlier results on output synchronization of nonlinear passive systems to the case of nonlinear systems with relative degree one. It is well known [C. I. Byrnes, A. Isidori and J. C. Willems, IEEE Trans. Autom. Control 36, No. 11, 1228–1240 (1991; Zbl 0758.93007)] that weakly minimum phase systems with relative degree one are feedback equivalent to a passive system with a positive definite storage function. We exploit this feedback equivalence to develop control laws for output synchronization of such systems, exchanging outputs on balanced graphs, in the presence of communication delays, and switching interconnection topologies. We further show that the balanced graph assumption can be removed provided the internal dynamics in the normal form are Input-to-State-Stable (ISS) for each agent. Simulation results are presented to verify the obtained results.
For the entire collection see [Zbl 1140.93006].
For the entire collection see [Zbl 1140.93006].
MSC:
| 93C10 | Nonlinear systems in control theory |
| 93D25 | Input-output approaches in control theory |
| 93C30 | Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) |
Keywords:
output synchronization; nonlinear systems; time delay; normal form; passivity; input-to-state-stability; hybrid systemsCitations:
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