Synchronization of nonlinear multi-agent systems via exact feedback linearization

0533383 - ÚTIA 2021 RIV US eng C - Konferenční příspěvek (zahraniční konf.)
Rehák, Branislav - Lynnyk, Volodymyr
Synchronization of nonlinear multi-agent systems via exact feedback linearization.
International Conference on Control, Automation and Systems (ICCAS) 2020. Piscataway: IEEE, 2020, s. 670-677. ISBN 978-1-7281-8562-0.
[The 20th International Conference on Control, Automation and Systems (ICCAS 2020). BEXCO, Busan (KR), 13.10.2020-16.10.2020]
Grant CEP: GA ČR(CZ) GA19-07635S
Institucionální podpora: RVO:67985556
Klíčová slova: Nonlinear multi-agent system * Zero dynamics * Exact feedback linearization * Synchronization
Obor OECD: Automation and control systems

Synchronization of a multi-agent system composed of identical nonlinear agents admitting exact feedback linearization is presented. The agents may not be fully linearizable, however, if they are minimum-phase systems, synchronization is achieved. Both leader-following as well as the consensus problem are treated. In the latter case, it is guaranteed that the average dynamics equals to the dynamics of one agent. The results are illustrated by an example.
Trvalý link: http://hdl.handle.net/11104/0311785