Distributed Control of Networked Dynamical Systems: Static Feedback, Integral Action and Consensus
2014 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 59, no 7, 1750-1764 p.Article in journal (Refereed) Published
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.
Place, publisher, year, edition, pages
2014. Vol. 59, no 7, 1750-1764 p.
Agents and autonomous systems, cooperative control, electrical power systems, proportional integral (PI) control
IdentifiersURN: urn:nbn:se:kth:diva-148357DOI: 10.1109/TAC.2014.2309281ISI: 000338353300005ScopusID: 2-s2.0-84903310323OAI: oai:DiVA.org:kth-148357DiVA: diva2:736447
QC 201408062014-08-062014-08-052014-08-06Bibliographically approved