Projekt per år
Sammanfattning
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.
Originalspråk | engelska |
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Titel på värdpublikation | Proceedings of the IEEE Conference on Decision and Control |
Sidor | 7388-7394 |
Antal sidor | 8 |
ISBN (elektroniskt) | 979-835030124-3 |
DOI | |
Status | Published - 2023 |
Evenemang | 62nd IEEE Conference on Decision and Control - Marina Bay Sands, Singapore, Singapore Varaktighet: 2023 dec. 13 → 2023 dec. 15 https://cdc2023.ieeecss.org |
Konferens
Konferens | 62nd IEEE Conference on Decision and Control |
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Förkortad titel | CDC 2023 |
Land/Territorium | Singapore |
Ort | Singapore |
Period | 2023/12/13 → 2023/12/15 |
Internetadress |
Ämnesklassifikation (UKÄ)
- Reglerteknik
Fingeravtryck
Utforska forskningsämnen för ”A closed-loop design for scalable high-order consensus”. Tillsammans bildar de ett unikt fingeravtryck.Projekt
- 1 Aktiva
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WASP: Wallenberg AI, Autonomous Systems and Software Program at Lund University
Årzén, K.-E. (Forskare)
2015/10/01 → 2029/12/31
Projekt: Forskning