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Distributed Control of Networked Dynamical Systems: Static Feedback, Integral Action and Consensus
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.ORCID-id: 0000-0001-7309-8086
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.ORCID-id: 0000-0003-1835-2963
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.ORCID-id: 0000-0001-9940-5929
2014 (engelsk)Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 59, nr 7, s. 1750-1764Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

This paper analyzes distributed control protocols for first- and second-order networked dynamical systems. We propose a class of nonlinear consensus controllers where the input of each agent can be written as a product of a nonlinear gain, and a sum of nonlinear interaction functions. By using integral Lyapunov functions, we prove the stability of the proposed control protocols, and explicitly characterize the equilibrium set. We also propose a distributed proportional-integral (PI) controller for networked dynamical systems. The PI controllers successfully attenuate constant disturbances in the network. We prove that agents with single-integrator dynamics are stable for any integral gain, and give an explicit tight upper bound on the integral gain for when the system is stable for agents with double-integrator dynamics. Throughout the paper we highlight some possible applications of the proposed controllers by realistic simulations of autonomous satellites, power systems and building temperature control.

sted, utgiver, år, opplag, sider
2014. Vol. 59, nr 7, s. 1750-1764
Emneord [en]
Agents and autonomous systems, cooperative control, electrical power systems, proportional integral (PI) control
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Identifikatorer
URN: urn:nbn:se:kth:diva-148357DOI: 10.1109/TAC.2014.2309281ISI: 000338353300005Scopus ID: 2-s2.0-84903310323OAI: oai:DiVA.org:kth-148357DiVA, id: diva2:736447
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QC 20140806

Tilgjengelig fra: 2014-08-06 Laget: 2014-08-05 Sist oppdatert: 2017-12-05bibliografisk kontrollert

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Dimarogonas, Dimos V.Sandberg, HenrikJohansson, Karl Henrik

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