36 research outputs found
Cluster Consensus on Discrete-Time Multi-Agent Networks
Nowadays, multi-agent networks are ubiquitous in the real world. Over the last decade, consensus has received an increasing attention from various disciplines. This paper investigates cluster consensus for discrete-time multi-agent networks. By utilizing a special coupling matrix and the Kronecker product, a criterion based on linear matrix inequality (LMI) is obtained. It is shown that the addressed discrete-time multi-agent networks achieve cluster consensus if a certain LMI is feasible. Finally, an example is given to demonstrate the effectiveness of the proposed criterion
Control limitations from distributed sensing: theory and Extremely Large Telescope application
We investigate performance bounds for feedback control of distributed plants
where the controller can be centralized (i.e. it has access to measurements
from the whole plant), but sensors only measure differences between neighboring
subsystem outputs. Such "distributed sensing" can be a technological necessity
in applications where system size exceeds accuracy requirements by many orders
of magnitude. We formulate how distributed sensing generally limits feedback
performance robust to measurement noise and to model uncertainty, without
assuming any controller restrictions (among others, no "distributed control"
restriction). A major practical consequence is the necessity to cut down
integral action on some modes. We particularize the results to spatially
invariant systems and finally illustrate implications of our developments for
stabilizing the segmented primary mirror of the European Extremely Large
Telescope.Comment: submitted to Automatic
Synchronization with partial state coupling on SO(n)
This paper studies autonomous synchronization of k agents whose states evolve
on SO(n), but which are only coupled through the action of their states on one
"reference vector" in Rn for each link. Thus each link conveys only partial
state information at each time, and to reach synchronization agents must
combine this information over time or throughout the network. A natural
gradient coupling law for synchronization is proposed. Extensive convergence
analysis of the coupled agents is provided, both for fixed and time-varying
reference vectors. The case of SO(3) with fixed reference vectors is discussed
in more detail. For comparison, we also treat the equivalent setting in Rn,
i.e. with states in Rn and connected agents comparing scalar product of their
states with a reference vector.Comment: to be submitted to SIAM Journal on Control and Optimizatio