A closed-loop design for scalable high-order consensus

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceedingpeer-review

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 languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Pages7388-7394
Number of pages8
ISBN (Electronic)979-835030124-3
DOIs
Publication statusPublished - 2023
Event62nd IEEE Conference on Decision and Control - Marina Bay Sands, Singapore, Singapore
Duration: 2023 Dec 132023 Dec 15
https://cdc2023.ieeecss.org

Conference

Conference62nd IEEE Conference on Decision and Control
Abbreviated titleCDC 2023
Country/TerritorySingapore
CitySingapore
Period2023/12/132023/12/15
Internet address

Subject classification (UKÄ)

  • Control Engineering

Fingerprint

Dive into the research topics of 'A closed-loop design for scalable high-order consensus'. Together they form a unique fingerprint.

Cite this