DECENTRALIZED DYNAMIC OUTPUT FEEDBACK CONTROLLER DESIGN FOR CONSENSUS IN MULTI-AGENT SYSTEM OF SINGLE LINK MANIPULATORS WITH FLEXIBLE JOINT

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

AMINI AMIR; SOJOODI MAHDI; OZGOLI SADJAAD

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: Modares Mechanical Engineering Year:2015 | Volume:14 | Issue:15 Page(s): 75-84

Download Full-Text

Persian Verion

View:

705

Download:

Cites:

Information Journal Paper

Title

DECENTRALIZED DYNAMIC OUTPUT FEEDBACK CONTROLLER DESIGN FOR CONSENSUS IN MULTI-AGENT SYSTEM OF SINGLE LINK MANIPULATORS WITH FLEXIBLE JOINT

Author(s)

AMINI AMIR | SOJOODI MAHDI | OZGOLI SADJAAD | Issue Writer Certificate

Keywords

DECENTRALIZED DYNAMIC OUTPUT FEEDBACKQ2

CONSENSUSQ2

SINGLE LINK MANIPULATORS WITH FLEXIBLE JOINTQ2

MULTI-AGENT SYSTEMSQ2

LINEAR MATRIX INEQUALITIESQ2

Abstract

In this paper, a novel method for solving CONSENSUS problem in a multi agent system consisting of SINGLE LINK MANIPULATORS WITH FLEXIBLE JOINT is presented. This method is based on LINEAR MATRIX INEQUALITIES and the objective is to design a dynamic fixed order controller that can fulfill CONSENSUS by using output feedback information and Laplacian Matrix of the network of manipulators. The exact model of a single Link manipulator is assumed thus a nonlinear Lipchitz term emerges. Each manipulator as an agent in the corresponding network obtains only its neighbors output information, therefore the controller is decentralized. To guarantee CONSENSUS in this method, first the multi agent system should become one augmented system. Then, based on considered conditions on nonlinear terms, using appropriate structure conversion is necessary. The unknown controller coefficients of the closed loop system can be achieved by using Lyapunov stability theorem. Applying special conditions on symmetric positive definite matrix in Lyapunov quadratic function results in an LMI form, thus iterative methods of solving nonlinear matrix inequalities with less accuracy is prevented. Finally, to demonstrate the effectiveness of this algorithm and compare with similar earlier researches, a numerical example on a multi agent system consisting of three single link flexible manipulators is investigated.

Cites

No record.

References

No record.

Cite

APA: Copy

AMINI, AMIR, SOJOODI, MAHDI, & OZGOLI, SADJAAD. (2015). DECENTRALIZED DYNAMIC OUTPUT FEEDBACK CONTROLLER DESIGN FOR CONSENSUS IN MULTI-AGENT SYSTEM OF SINGLE LINK MANIPULATORS WITH FLEXIBLE JOINT. MODARES MECHANICAL ENGINEERING, 14(15), 75-84. SID. https://sid.ir/paper/177688/en

Vancouver: Copy

AMINI AMIR, SOJOODI MAHDI, OZGOLI SADJAAD. DECENTRALIZED DYNAMIC OUTPUT FEEDBACK CONTROLLER DESIGN FOR CONSENSUS IN MULTI-AGENT SYSTEM OF SINGLE LINK MANIPULATORS WITH FLEXIBLE JOINT. MODARES MECHANICAL ENGINEERING[Internet]. 2015;14(15):75-84. Available from: https://sid.ir/paper/177688/en

IEEE: Copy

AMIR AMINI, MAHDI SOJOODI, and SADJAAD OZGOLI, “DECENTRALIZED DYNAMIC OUTPUT FEEDBACK CONTROLLER DESIGN FOR CONSENSUS IN MULTI-AGENT SYSTEM OF SINGLE LINK MANIPULATORS WITH FLEXIBLE JOINT,” MODARES MECHANICAL ENGINEERING, vol. 14, no. 15, pp. 75–84, 2015, [Online]. Available: https://sid.ir/paper/177688/en

Related Journal Papers