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  • 1.
    Gao, Yulong
    et al.
    KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
    Yu, Pian
    KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
    Johansson, Karl H.
    KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
    Xie, Lihua
    Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore..
    Robust self-triggered control for time-varying and uncertain constrained systems via reachability analysis2019In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 107, p. 574-581Article in journal (Refereed)
    Abstract [en]

    This paper develops a robust self-triggered control algorithm for time-varying and uncertain systems with constraints based on reachability analysis. The resulting piecewise constant control inputs achieve communication reduction and guarantee constraint satisfactions. In the particular case when there is no uncertainty, we propose a control design with minimum number of samplings over finite time horizon. Furthermore, when the plant is linear and the constraints are polyhedral, we prove that the previous algorithms can be reformulated as computationally tractable mixed integer linear programs. The method is compared with the robust self-triggered model predictive control in a numerical example and applied to a robot motion planning problem with temporal constraints.

  • 2.
    Yu, Pian
    et al.
    KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.
    Explicit computation of sampling period in periodic event-triggered multi-agent control2018In: Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc. , 2018, p. 3038-3043Conference paper (Refereed)
    Abstract [en]

    This paper investigates the synchronization of nonlinear sampled-data multi-agent systems. The purpose is to obtain an explicit formula for the maximum allowable sampling period (MASP) that guarantees exponential synchronization. Two implementation scenarios are considered. We first propose an approach on finding the MASP for periodic time-triggered sampled-data control. Then, a periodic event-triggered communication and control strategy is formulated, where a communication function and a control function are designed for each agent to determine whether or not the sampled data or the control input should be transmitted at each sampling instant. It is shown that there is a tradeoff between the sampling frequency and the convergence performance. The theoretical results are illustrated in simulations.

  • 3.
    Yu, Pian
    et al.
    KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
    Explicit computation of sampling period in periodic event-triggered multi-agent control under limited data rate2018In: IEEE Transactions on Control of Network Systems, E-ISSN 2325-5870Article in journal (Refereed)
    Abstract [en]

    This paper investigates the coordination of nonlinear sampled-data multi-agent systems subject to data rate constraint. The purpose is to design resource-efficient communication and control strategies that guarantee exponential synchronization. Two implementation scenarios are considered, the period time-triggered control and the period event-triggered control. One of the main difficulties of the problem is to obtain an explicit formula for the maximum allowable sampling period (MASP). To this end, an approach on finding the MASP for periodic time-triggered control is proposed first. Then, an asynchronous period event-triggered control strategy is formulated, a communication function and a control function are designed for each agent to determine respectively whether or not the sampled data and the control input should be transmitted at each sampling instant. Finally, the constraint of limited data rate is considered. An observer-based encoder-decoder and a finite-level quantizer are designed respectively for the Sensor-Controller communication and the Controller-Actuator communication such that certain constraint on the data rate is satisfied. It is shown that exponential synchronization can still be achieved in the presence of data rate constraint. A simulation example is given to illustrate the effectiveness of the theoretical results

  • 4.
    Yu, Pian
    et al.
    KTH, School of Electrical Engineering and Computer Science (EECS).
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
    Time-constrained multi-agent task scheduling based on prescribed performance control2018In: 2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC), IEEE , 2018, p. 2593-2598Conference paper (Refereed)
    Abstract [en]

    The problem of time-constrained multi-agent task scheduling and control synthesis is addressed. We assume the existence of a high level plan which consists of a sequence of cooperative tasks, each of which is associated with a deadline and several Quality-of-Service levels. By taking into account the reward and cost of satisfying each task, a novel scheduling problem is formulated and a path synthesis algorithm is proposed. Based on the obtained plan, a distributed hybrid control law is further designed for each agent. Under the condition that only a subset of the agents are aware of the high level plan, it is shown that the proposed controller guarantees the satisfaction of time constraints for each task. A simulation example is given to verify the theoretical results.

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