Abstract:
We study decentralized controller design for stabilization and pole-placement, in a network of autonomous agents with double-integrator internal dynamics and arbitrary ob...Show MoreMetadata
Abstract:
We study decentralized controller design for stabilization and pole-placement, in a network of autonomous agents with double-integrator internal dynamics and arbitrary observation topology. We show that a simple multi-lead-compensator architecture, in particular one in which each agent uses a derivative-approximation compensator with three memory elements, can achieve both stabilization and effective pole placement. Through a scaling argument, we also demonstrate that the multi-lead-compensator can stabilize the double-integrator network under actuator saturation constraints. The multi-lead-compensator design is practical for modern dynamical network applications, in that it subdivides actuation effort and complexity among the agents and in many cases is robust to agent failure.
Published in: 2009 American Control Conference
Date of Conference: 10-12 June 2009
Date Added to IEEE Xplore: 10 July 2009
ISBN Information: