Distributed Observer and Controller Design for Spatially Interconnected Systems

Abstract

This paper tackles networked distributed observer 1 and controller design problem over directed graph topology for 2 spatially interconnected systems. Traditional centralized design 3 methods suffer from a lack of adaptability to graph variations 4 incurred by network reconfiguration, communication failures, 5 and redundant sensors integration. In this paper, to handle 6 the foregoing limitations imposed by centralized design, state 7 observers are designed in a distributed manner facilitated by 8 pinning control precepts. On the one hand, this novel approach 9 adds fault tolerance with respect to communication link failures. 10 On the other hand, the proposed approach brings flexibility of 11 integrating additional sensors into the network. In addition, this 12 approach affords a reduction of computational cost. A sufficient 13 condition to guarantee stability of the closed-loop system is 14 derived. The controllers, though in the end implemented in 15 a distributed way, are designed in a centralized framework, 16 where linear-quadratic-regulator theory is adopted to handle 17 the fact that separation principle fails to hold in the net-18 worked observer and controller design. Numerical simulation 19 results of a piezoelectric actuated smart flexible system are 20 presented, and the effectiveness of the proposed design is thereby 21 verified.

Guaranteed estimation and distributed control of vehicle formations

“…The solutions adopted in Millán et al (2013); Orihuela, Millán, Vivas, and Rubio (2016); Rubio et al (2014); Zhang et al (2017) present different formula-tions of a cascade structure, where the estimation errors must converge to zero to achieve the control objectives. In all these papers, the authors assume that the control actions applied to the system at any moment are the same that the local agent would apply if it has access to all control channels.…”

“…Hence, the solution for the joint problem is rather more complex. There exists a common line of research that proposes different formulations of a cascade structure, in which the estimation error must converge faster than the tracking error, see Rubio, Millán, Orihuela, and Vivas (2014); Zhang, Hengster-Movric, Sebek, Desmet, and Faria (2017). In all these papers, the authors assume that the control actions applied to the system at any moment are the same that the local agent would apply if it has access to all control channels.…”

Approximate Synchronization of Complex Network Consisting of Nodes With Minimum-Phase Zero Dynamics and Uncertainties

“…The problem of synchronization with different kinds of perturbation like irregular communication delays [9], [10], packets dropouts [11], quantization [12], [13], communication link failures [14], nonconstant interconnection topologies [15] are widely discussed by the control engineering community. Synchronization problem is also known as consensus problem in the recent terminology of control theory, see e.g., [9], [16], [17].…”

Quasi-Luenberger Observer-Based Robust DC Link Control of UIPC for Flexible Power Exchange Control in Hybrid Microgrids

“…In [14], a distributed observer and controller have been designed for spatially interconnected systems. An observer-based nonlinear control scheme for transient stabilization of power system using sliding mode control strategy has been presented in [15].…”