This paper considers a collection of agents performing a shared task making use of relative information communicated over an information network. A two step design procedure for distributed state feedback control of such systems is proposed. The control law is guaranteed to provide a certain level of performance in terms of an LQR cost at a network level. An analysis of the proposed control law in the presence of delays in the relative information is carried out to obtain a bound on the maximum delay that can be accommodated.
This paper considers a network of vehicles moving in a two dimensional plane. The overall network, described by a collection of double integrator dynamics, is controlled by a novel distributed static output feedback methodology to maintain a desired formation. The distributed control architecture stabilizes the network using static output feedback of position information only, by exploiting delays in communication of the relative information. An optimization algorithm, based on Linear Matrix Inequalities together with the DIRECT search algorithm, is used to synthesize the controller gains and the delay.
In this paper a network of vehicles moving in a two dimensional plane, described by double integrator dynamics, is stabilized by a novel distributed control methodology, to maintain a formation. The distributed control architecture employs static output feedback using an artificial delay. Delays in communication of the relative information are exploited to stabilize the network system using state output feedback of position information only. The synthesis of the controller gains and the level of artificial delay, is posed as an optimization problem subject to the feasibility of a set of Linear Matrix Inequalities based on a discretized Lyapunov-Krasovskii functional.
In this chapter, a multiagent system composed of linear identical dynamical agents is considered. The agents are assumed to share relative state information over a communication network. This exchange of relative information is assumed to be subject to delays. New methods to synthesize distributed state feedback control laws for the multiagent system, using delayed relative information along with local state information with guaranteed LQR performance, are presented in this chapter. Two types of delays are considered in the relative information exchange: fixed and time-varying. Existing delay-dependent stability criteria are modified to incorporate LQR performance guarantees while retaining convex LMI representations to facilitate the synthesis of the control gains.
IntroductionResearch in consensus and coordination of multiagent systems has received a great deal of attention over the past decade. One problem which is addressed in many of these papers involves ensuring a collection of multiple agents, interconnected over an information network, and operate in agreement or in a synchronized manner. Often the topology of the interconnections is captured as a graph, and in recent years many researchers have obtained novel results by combining graph theory along with systems and control ideas. See [1,6,16,20,21,25,26,32,37] and the references therein for further details and examples. P. Deshpande (B) ASML B.V.,
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