论文标题
带有自由身体运动的网络异质非线性负面疑问系统的输出反馈共识
Output Feedback Consensus for Networked Heterogeneous Nonlinear Negative-Imaginary Systems with Free Body Motion
论文作者
论文摘要
本文提供了一项协议，以解决具有自由车身动态的网络异质非线性负面疑问（NI）系统的强大输出反馈共识问题。我们扩展了非线性NI系统的定义，以允许自由运动的系统。为非线性NI系统的互连和非线性输出严格构想（OSNI）系统而开发了一个新的稳定结果。此外，提出了一类网络的非线性OSNI控制器，以实现异质网络非线性NI系统的输出反馈共识。我们表明，在此控制框架中，系统输出将收敛到相同的极限轨迹。通过数值示例说明了此共识协议。
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.
