4,703 research outputs found
Stabilization of Networked Control Systems with Sparse Observer-Controller Networks
In this paper we provide a set of stability conditions for linear
time-invariant networked control systems with arbitrary topology, using a
Lyapunov direct approach. We then use these stability conditions to provide a
novel low-complexity algorithm for the design of a sparse observer-based
control network. We employ distributed observers by employing the output of
other nodes to improve the stability of each observer dynamics. To avoid
unbounded growth of controller and observer gains, we impose bounds on their
norms. The effects of relaxation of these bounds is discussed when trying to
find the complete decentralization conditions
Consensus-based control for a network of diffusion PDEs with boundary local interaction
In this paper the problem of driving the state of a network of identical
agents, modeled by boundary-controlled heat equations, towards a common
steady-state profile is addressed. Decentralized consensus protocols are
proposed to address two distinct problems. The first problem is that of
steering the states of all agents towards the same constant steady-state
profile which corresponds to the spatial average of the agents initial
condition. A linear local interaction rule addressing this requirement is
given. The second problem deals with the case where the controlled boundaries
of the agents dynamics are corrupted by additive persistent disturbances. To
achieve synchronization between agents, while completely rejecting the effect
of the boundary disturbances, a nonlinear sliding-mode based consensus protocol
is proposed. Performance of the proposed local interaction rules are analyzed
by applying a Lyapunov-based approach. Simulation results are presented to
support the effectiveness of the proposed algorithms
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