A closed-loop design for scalable high-order consensus

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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.
Originalspråkengelska
Titel på värdpublikationProceedings of the IEEE Conference on Decision and Control
Sidor7388-7394
Antal sidor8
ISBN (elektroniskt)979-835030124-3
DOI
StatusPublished - 2023
Evenemang62nd IEEE Conference on Decision and Control - Marina Bay Sands, Singapore, Singapore
Varaktighet: 2023 dec. 132023 dec. 15
https://cdc2023.ieeecss.org

Konferens

Konferens62nd IEEE Conference on Decision and Control
Förkortad titelCDC 2023
Land/TerritoriumSingapore
OrtSingapore
Period2023/12/132023/12/15
Internetadress

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