Abstract
This paper proposes a distributed coordinated tracking controller for a group of high-order linear systems. The proposed controller is based on the disturbance observer which is a robust output feedback controller. It is noted that agents are allowed to use only outputs of their neighbors and the proposed controller uses only relative measurements. Since only outputs are exchanged among agents, the amount of information exchange does not depend on the dimension of agents’ dynamics. Numerical simulations are included to validate the theory.
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Recommended by Associate Editor Ho Jae Lee under the direction of Editor Fuchun Sun.
This research was supported by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (NRF-2012R1A1A 2006923), the New & Renewable Energy of the KETEP grant funded by the Korea government Ministry of Trade, Industry & Energy (20123030020060), and the Research Grant of Kwangwoon University in 2014.
Kunhee Ryu received his B.S. and M.S. degrees from the School of Robotics at Kwangwoon University, in 2012 and 2014, respectively. Since 2014, he has been at Korea Institute of Science and Technology, Seoul, Korea, where he is currently a researcher in the Interaction and Robotics Research Center, National Agenda Research Division. His research interests include control system theory and design, multi-agent system, cognitive system, and robotics.
Juhoon Back received his B.S. and M.S. degrees in Mechanical Design and Production Engineering from Seoul National University, in 1997 and 1999, respectively. He received his Ph.D. degree from the School of Electrical Engineering and Computer Science, Seoul National University, Seoul, Korea, in 2004. From 2004 to 2005, he was a postdoctoral researcher at Seoul National University and from 2005 to 2006, he worked as a research associate at the Control and Power Group, Electrical and Electronic Engineering, Imperial College London, UK. From 2007 to 2008, he was a BK21 contract professor at Korea University, Korea. Since 2008, he has been at Kwangwoon University, Seoul, Korea, where he is currently an associate professor in the School of Robotics. His research interests include control system theory and design, positive systems, alternative energy systems, and robotics.
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Ryu, K., Back, J. An output feedback coordinated tracking controller for high-order linear systems. Int. J. Control Autom. Syst. 13, 1360–1368 (2015). https://doi.org/10.1007/s12555-014-0185-2
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DOI: https://doi.org/10.1007/s12555-014-0185-2