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Abstract
This paper studies the problem of coordinating a group of nth-order integrator systems. As for the well-studied conventional consensus problem, we consider linear and distributed control with only local and relative measurements. We propose a closed-loop dynamic that we call serial consensus and prove it achieves nth order consensus regardless of model order and underlying network graph. This alleviates an important scalability limitation in conventional consensus dynamics of order n≥2, whereby they may lose stability if the underlying network grows. The distributed control law which achieves the desired closed loop dynamics is shown to be localized and obey the limitation to relative state measurements. Furthermore, through use of the small-gain theorem, the serial consensus system is shown to be robust to both model and feedback uncertainties. We illustrate the theoretical results through examples.
Original language | English |
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Title of host publication | Proceedings of the IEEE Conference on Decision and Control |
Pages | 7388-7394 |
Number of pages | 8 |
ISBN (Electronic) | 979-835030124-3 |
DOIs | |
Publication status | Published - 2023 |
Event | 62nd IEEE Conference on Decision and Control - Marina Bay Sands, Singapore, Singapore Duration: 2023 Dec 13 → 2023 Dec 15 https://cdc2023.ieeecss.org |
Conference
Conference | 62nd IEEE Conference on Decision and Control |
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Abbreviated title | CDC 2023 |
Country/Territory | Singapore |
City | Singapore |
Period | 2023/12/13 → 2023/12/15 |
Internet address |
Subject classification (UKÄ)
- Control Engineering
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WASP: Wallenberg AI, Autonomous Systems and Software Program at Lund University
Årzén, K.-E. (Researcher)
2015/10/01 → 2029/12/31
Project: Research