18,761 research outputs found
Guaranteed Cost Tracking for Uncertain Coupled Multi-agent Systems Using Consensus over a Directed Graph
This paper considers the leader-follower control problem for a linear
multi-agent system with directed communication topology and linear nonidentical
uncertain coupling subject to integral quadratic constraints (IQCs). A
consensus-type control protocol is proposed based on each agent's states
relative to its neighbors and leader's state relative to agents which observe
the leader. A sufficient condition is obtained by overbounding the cost
function. Based on this sufficient condition, a computational algorithm is
introduced to minimize the proposed guaranteed bound on tracking performance,
which yields a suboptimal bound on the system consensus control and tracking
performance. The effectiveness of the proposed method is demonstrated using a
simulation example.Comment: Accepted for presentation at the 2013 Australian Control conferenc
Cooperative H-infinity Estimation for Large-Scale Interconnected Linear Systems
In this paper, a synthesis method for distributed estimation is presented,
which is suitable for dealing with large-scale interconnected linear systems
with disturbance. The main feature of the proposed method is that local
estimators only estimate a reduced set of state variables and their complexity
does not increase with the size of the system. Nevertheless, the local
estimators are able to deal with lack of local detectability. Moreover, the
estimators guarantee H-infinity-performance of the estimates with respect to
model and measurement disturbances.Comment: Short version published in Proc. American Control Conference (ACC),
pp.2119-2124. Chicago, IL, 201
A distributed accelerated gradient algorithm for distributed model predictive control of a hydro power valley
A distributed model predictive control (DMPC) approach based on distributed
optimization is applied to the power reference tracking problem of a hydro
power valley (HPV) system. The applied optimization algorithm is based on
accelerated gradient methods and achieves a convergence rate of O(1/k^2), where
k is the iteration number. Major challenges in the control of the HPV include a
nonlinear and large-scale model, nonsmoothness in the power-production
functions, and a globally coupled cost function that prevents distributed
schemes to be applied directly. We propose a linearization and approximation
approach that accommodates the proposed the DMPC framework and provides very
similar performance compared to a centralized solution in simulations. The
provided numerical studies also suggest that for the sparsely interconnected
system at hand, the distributed algorithm we propose is faster than a
centralized state-of-the-art solver such as CPLEX
Decentralized Implementation of Centralized Controllers for Interconnected Systems
Given a centralized controller associated with a linear time-invariant interconnected system, this paper is concerned with designing a parameterized decentralized
controller such that the state and input of
the system under the obtained decentralized controller can become arbitrarily close to those of the system under the given centralized controller, by tuning the controller's parameters. To this end, a two-level decentralized controller is designed, where the upper level captures the dynamics of the centralized closed-loop system, and the lower level is an observed-based sub-controller designed based on the new notion of structural initial value
observability. The proposed method can decentralize every generic centralized controller, provided the interconnected system satisfies very mild conditions. The efficacy of this work is elucidated by some numerical examples
On distributed pinning observers for a network of dynamical systems
ArticleThis is the author accepted manuscript. The final version is available from IEEE via the DOI in this record.In this paper, a distributed observer structure is proposed to estimate the states of a large scale network of semi-linear systems interconnected by a positive, time varying coupling strength. The distributed observer comprises distinct sub-observers which require only local node level information and exchange their local state estimates with their ‘neighbouring’ observers. The key idea here is to use a minimum number, or at least relatively few, measurements from the network being monitored to reduce the sensor requirements. The problem is formulated as a two stage LMI optimization problem
- …