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Distributed Control of Networked Dynamical Systems: Static Feedback, Integral Action and Consensus
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0003-1835-2963
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
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
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.

Place, publisher, year, edition, pages
2014. Vol. 59, no 7, 1750-1764 p.
Keyword [en]
Agents and autonomous systems, cooperative control, electrical power systems, proportional integral (PI) control
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-148357DOI: 10.1109/TAC.2014.2309281ISI: 000338353300005Scopus ID: 2-s2.0-84903310323OAI: oai:DiVA.org:kth-148357DiVA: diva2:736447
Note

QC 20140806

Available from: 2014-08-06 Created: 2014-08-05 Last updated: 2017-12-05Bibliographically approved

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Dimarogonas, Dimos V.Sandberg, HenrikJohansson, Karl Henrik

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