Cooperative control of multiple stochastic high-order nonlinear systems

Research output: Journal Publications and ReviewsRGC 21 - Publication in refereed journalpeer-review

65 Scopus Citations
View graph of relations

Author(s)

Detail(s)

Original languageEnglish
Pages (from-to)218-225
Journal / PublicationAutomatica
Volume82
Online published20 May 2017
Publication statusPublished - Aug 2017

Abstract

Distributed cooperative control of multiple stochastic high-order nonlinear systems has not been addressed in literature. This paper presents an approach to design of distributed cooperative controllers for multiple stochastic high-order nonlinear systems under directed leader–followers type network topology via the so-called distributed integrator backstepping method. By using the algebraic graph theory and stochastic analysis method, it is shown that the output tracking errors between the followers and the leader can be tuned arbitrarily small while all the states of the closed-loop system remain bounded in probability. Finally, the effectiveness of the proposed control approach is illustrated on a stochastic underactuated mechanical system.

Research Area(s)

  • Cooperative control, Directed network topology, Stochastic high-order nonlinear systems