2,499 research outputs found
Global stabilization of linear systems with bounds on the feedback and its successive derivatives
We address the global stabilization of linear time-invariant (LTI) systems
when the magnitude of the control input and its successive time derivatives, up
to an order , are bounded by prescribed values. We propose a
static state feedback that solves this problem for any admissible LTI systems,
namely for stabilizable systems whose internal dynamics has no eigenvalue with
positive real part. This generalizes previous work done for single-input chains
of integrators and rotating dynamics
Optimal stability polynomials for numerical integration of initial value problems
We consider the problem of finding optimally stable polynomial approximations
to the exponential for application to one-step integration of initial value
ordinary and partial differential equations. The objective is to find the
largest stable step size and corresponding method for a given problem when the
spectrum of the initial value problem is known. The problem is expressed in
terms of a general least deviation feasibility problem. Its solution is
obtained by a new fast, accurate, and robust algorithm based on convex
optimization techniques. Global convergence of the algorithm is proven in the
case that the order of approximation is one and in the case that the spectrum
encloses a starlike region. Examples demonstrate the effectiveness of the
proposed algorithm even when these conditions are not satisfied
Consensus problems in networks of agents with switching topology and time-delays
In this paper, we discuss consensus problems for networks of dynamic agents with fixed and switching topologies. We analyze three cases: 1) directed networks with fixed topology; 2) directed networks with switching topology; and 3) undirected networks with communication time-delays and fixed topology. We introduce two consensus protocols for networks with and without time-delays and provide a convergence analysis in all three cases. We establish a direct connection between the algebraic connectivity (or Fiedler eigenvalue) of the network and the performance (or negotiation speed) of a linear consensus protocol. This required the generalization of the notion of algebraic connectivity of undirected graphs to digraphs. It turns out that balanced digraphs play a key role in addressing average-consensus problems. We introduce disagreement functions for convergence analysis of consensus protocols. A disagreement function is a Lyapunov function for the disagreement network dynamics. We proposed a simple disagreement function that is a common Lyapunov function for the disagreement dynamics of a directed network with switching topology. A distinctive feature of this work is to address consensus problems for networks with directed information flow. We provide analytical tools that rely on algebraic graph theory, matrix theory, and control theory. Simulations are provided that demonstrate the effectiveness of our theoretical results
Multiplex PI-Control for Consensus in Networks of Heterogeneous Linear Agents
In this paper, we propose a multiplex proportional-integral approach, for
solving consensus problems in networks of heterogeneous nodes dynamics affected
by constant disturbances. The proportional and integral actions are deployed on
two different layers across the network, each with its own topology. Sufficient
conditions for convergence are derived that depend upon the structure of the
network, the parameters characterizing the control layers and the node
dynamics. The effectiveness of the theoretical results is illustrated using a
power network model as a representative example.Comment: 13 pages, 6 Figures, Preprint submitted to Automatic
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