Competitive Advantages:
Distributed control of heterogeneous (in dynamics and dimension) linear time-invariant multiple systems with unknown external disturbances and unknown leader dynamics, The proposed approach paves the way for distributed controlled design which is independent of the external disturbances and the leader dynamics.
Systems and methods for controlling motion of a vehicle in a group of vehicles. In one embodiment, the system includes a communication interface, a vehicle platform for travelling among the group of vehicles, and an electronic processor. The electronic processor is configured to determine a local virtual tracking error signal and a controller state signal. The electronic processor is also configured to determine a selfnavigation input control signal based on the local virtual tracking error signal and the controller state signal. The self-navigation input control signal is for navigating the vehicle platform. A trajectory of an exosystem is based on a boundedness condition. The vehicle communicates with other vehicles in the group of vehicles via a fixed augmented directed connected communication graph topology. Each vehicle in the group of vehicles is stabilizable and satisfies a transmission zero condition. Design matrices of the vehicle satisfy an internal model principle.Our researchers have invented a novel control system that utilizes a distributed approach to allow a group of heterogenous dynamic systems (e.g., aerial and ground vehicle teams) working in coherence, which have non identical dynamics and dimension. The approach uses a fundamental converse theorem for linear time-invariant systems to link input-output stability and internal stability. Agent-wise local sufficient conditions are derived to solve the problem of distributed output regulation. The approach paves the way for distributed controller design which is independent of the leader dynamics. This system could be implemented in a multitude of complex control systems where distributed stability criterion is desired.
Brochure
