Multi-agent average consensus control with prescribed performance guarantees
2012 (English)In: 2012 IEEE 51st Annual Conference on Decision and Control (CDC), IEEE , 2012, 2219-2225 p.Conference paper (Refereed)
This work proposes a distributed control scheme for the state agreement problem which can guarantee prescribed performance for the system transient. In particular, i) we consider a set of agents that can exchange information according to a static communication graph, ii) we a priori define time-dependent constraints at the edge's space (errors between agents that exchange information) and iii) we design a distributed controller to guarantee that the errors between the neighboring agents do not violate the constraints. Following this technique the contributions are twofold: a) the convergence rate of the system and the communication structure of the agents' network which are strictly connected can be decoupled, and b) the connectivity properties of the initially formed communication graph are rendered invariant by appropriately designing the prescribed performance bounds. It is also shown how the structure and the parameters of the prescribed performance controller can be chosen in case of connected tree graphs and connected graphs with cycles. Simulation results validate the theoretically proven findings while enlightening the merit of the proposed prescribed performance agreement protocol as compared to the linear one.
Place, publisher, year, edition, pages
IEEE , 2012. 2219-2225 p.
, IEEE Conference on Decision and Control. Proceedings, ISSN 0191-2216
Coordination, Systems, Agents
IdentifiersURN: urn:nbn:se:kth:diva-113491DOI: 10.1109/CDC.2012.6426739ISI: 000327200402097ScopusID: 2-s2.0-84874256135ISBN: 978-1-4673-2066-5OAI: oai:DiVA.org:kth-113491DiVA: diva2:587771
51st IEEE Conference on Decision and Control, CDC 2012; Maui, HI; United States; 10 December 2012 through 13 December 2012
FunderSwedish Research CouncilSwedish Foundation for Strategic Research ICT - The Next Generation
QC 201303082013-01-152013-01-152013-12-19Bibliographically approved