Adaptive motion coordination of passive systems under quantization   effect

doi:10.1002/rnc.3166

CORC > 北京大学 > 工学院

	Adaptive motion coordination of passive systems under quantization effect
	Fu, Junjie ; Wang, Jinzhi
刊名	INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
	2015
关键词	multi-agent systems adaptive quantization passivity consensus AVERAGE CONSENSUS
DOI	10.1002/rnc.3166
英文摘要	In this paper, we consider the quantization effect on an adaptive motion coordination control law for passive multi-agent systems when the time-varying reference velocity is only available to the leader. Both logarithmic quantizers and uniform quantizers are investigated. Using tools from nonsmooth analysis and the Barbalat lemma, we prove that with undirected connected communication graphs, coordination problem is still solvable when logarithmic quantizers are used and the parameter convergence is also guaranteed when the basis functions satisfy certain persistently exciting property. When uniform quantizers are used, we prove that practical consensus can be achieved, and both the bounds of the consensus error and the velocity tracking error are proportional to the parameter of the quantizer. Simulation examples are provided to illustrate the results. Copyright (C) 2014 John Wiley & Sons, Ltd.; National Natural Science Foundation of China [90916003, 61074026]; SCI(E); EI; ARTICLE; jinzhiw@pku.edu.cn; 11; 1638-1653; 25
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/418095]
专题	工学院
推荐引用方式 GB/T 7714	Fu, Junjie,Wang, Jinzhi. Adaptive motion coordination of passive systems under quantization effect[J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,2015.
APA	Fu, Junjie,&Wang, Jinzhi.(2015).Adaptive motion coordination of passive systems under quantization effect.INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL.
MLA	Fu, Junjie,et al."Adaptive motion coordination of passive systems under quantization effect".INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL (2015).