Containment control for networked Lagrangian systems under a directed graph and communication constraints

Abdelkader Abdessameud; Ilia G. Polushin; Abdelhamid Tayebi

doi:10.1109/CDC.2014.7039841

Containment control for networked Lagrangian systems under a directed graph and communication constraints

Abdelkader Abdessameud, Ilia G. Polushin, Abdelhamid Tayebi

School of Science, Engineering & Technology (Harrisburg)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Scopus citations

Abstract

In this paper, we study the containment control problem of networked uncertain Lagrangian systems with intermittent communication in the presence of communication delays and possible information loss. Specifically, we present an adaptive distributed control algorithm such that a team of followers asymptotically converge to the convex hull spanned by multiple non-stationary leaders. The interconnection between the systems is represented by a directed graph. Sufficient conditions are presented such that the control objective is reached while communication between agents is allowed only at some discrete instants of time in the presence of irregular communication delays and packet dropout. Simulation results are given to show the effectiveness of the proposed control scheme.

Original language	English (US)
Title of host publication	53rd IEEE Conference on Decision and Control,CDC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2938-2943
Number of pages	6
Edition	February
ISBN (Electronic)	9781479977468
DOIs	https://doi.org/10.1109/CDC.2014.7039841
State	Published - 2014
Event	2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States Duration: Dec 15 2014 → Dec 17 2014

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Number	February
Volume	2015-February
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014
Country/Territory	United States
City	Los Angeles
Period	12/15/14 → 12/17/14

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Access to Document

10.1109/CDC.2014.7039841

Cite this

Abdessameud, A., Polushin, I. G., & Tayebi, A. (2014). Containment control for networked Lagrangian systems under a directed graph and communication constraints. In 53rd IEEE Conference on Decision and Control,CDC 2014 (February ed., pp. 2938-2943). Article 7039841 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2015-February, No. February). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2014.7039841

Abdessameud, Abdelkader ; Polushin, Ilia G. ; Tayebi, Abdelhamid. / Containment control for networked Lagrangian systems under a directed graph and communication constraints. 53rd IEEE Conference on Decision and Control,CDC 2014. February. ed. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 2938-2943 (Proceedings of the IEEE Conference on Decision and Control; February).

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title = "Containment control for networked Lagrangian systems under a directed graph and communication constraints",

abstract = "In this paper, we study the containment control problem of networked uncertain Lagrangian systems with intermittent communication in the presence of communication delays and possible information loss. Specifically, we present an adaptive distributed control algorithm such that a team of followers asymptotically converge to the convex hull spanned by multiple non-stationary leaders. The interconnection between the systems is represented by a directed graph. Sufficient conditions are presented such that the control objective is reached while communication between agents is allowed only at some discrete instants of time in the presence of irregular communication delays and packet dropout. Simulation results are given to show the effectiveness of the proposed control scheme.",

author = "Abdelkader Abdessameud and Polushin, {Ilia G.} and Abdelhamid Tayebi",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 ; Conference date: 15-12-2014 Through 17-12-2014",

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language = "English (US)",

series = "Proceedings of the IEEE Conference on Decision and Control",

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Abdessameud, A, Polushin, IG & Tayebi, A 2014, Containment control for networked Lagrangian systems under a directed graph and communication constraints. in 53rd IEEE Conference on Decision and Control,CDC 2014. February edn, 7039841, Proceedings of the IEEE Conference on Decision and Control, no. February, vol. 2015-February, Institute of Electrical and Electronics Engineers Inc., pp. 2938-2943, 2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014, Los Angeles, United States, 12/15/14. https://doi.org/10.1109/CDC.2014.7039841

Containment control for networked Lagrangian systems under a directed graph and communication constraints. / Abdessameud, Abdelkader; Polushin, Ilia G.; Tayebi, Abdelhamid.
53rd IEEE Conference on Decision and Control,CDC 2014. February. ed. Institute of Electrical and Electronics Engineers Inc., 2014. p. 2938-2943 7039841 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2015-February, No. February).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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N2 - In this paper, we study the containment control problem of networked uncertain Lagrangian systems with intermittent communication in the presence of communication delays and possible information loss. Specifically, we present an adaptive distributed control algorithm such that a team of followers asymptotically converge to the convex hull spanned by multiple non-stationary leaders. The interconnection between the systems is represented by a directed graph. Sufficient conditions are presented such that the control objective is reached while communication between agents is allowed only at some discrete instants of time in the presence of irregular communication delays and packet dropout. Simulation results are given to show the effectiveness of the proposed control scheme.

AB - In this paper, we study the containment control problem of networked uncertain Lagrangian systems with intermittent communication in the presence of communication delays and possible information loss. Specifically, we present an adaptive distributed control algorithm such that a team of followers asymptotically converge to the convex hull spanned by multiple non-stationary leaders. The interconnection between the systems is represented by a directed graph. Sufficient conditions are presented such that the control objective is reached while communication between agents is allowed only at some discrete instants of time in the presence of irregular communication delays and packet dropout. Simulation results are given to show the effectiveness of the proposed control scheme.

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Abdessameud A, Polushin IG, Tayebi A. Containment control for networked Lagrangian systems under a directed graph and communication constraints. In 53rd IEEE Conference on Decision and Control,CDC 2014. February ed. Institute of Electrical and Electronics Engineers Inc. 2014. p. 2938-2943. 7039841. (Proceedings of the IEEE Conference on Decision and Control; February). doi: 10.1109/CDC.2014.7039841

Containment control for networked Lagrangian systems under a directed graph and communication constraints

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