A multiple-derivative and multiple-delay paradigm for decentralized controller design: Introduction using the canonical double-integrator network

Yan Wan, Sandip Roy, Ali Saberi, Antonie Arij Stoorvogel

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    14 Citations (Scopus)

    Abstract

    We are engaged in a major effort to design decentralized controllers for modern networks, that is fundamentally based on 1) applying feedback of multiple derivatives of local observations and 2) implementing these derivative feedbacks using multiple-delay controllers. Here, we fully motivate and introduce the design paradigm in the context of a canonical sensing-network model, namely a network of saturating double integrators with general sensing topology that is subject to measurement delays. In this context, we illustrate that our design paradigm yields practical high-performance (in particular, group pole-placement) decentralized controllers that exploit the network topology while distributing the complexity and actuation requirements among the agents.
    Original languageEnglish
    Title of host publicationAIAA Guidance, Navigation, and Control Conference 2008
    Place of PublicationReston, VA
    PublisherAmerican Institute of Aeronautics and Astronautics Inc. (AIAA)
    Pages-
    Number of pages19
    ISBN (Print)978-1-56347-945-8
    DOIs
    Publication statusPublished - 2008
    EventAIAA Guidance, Navigation and Control Conference and Exhibit 2008 - Honolulu, United States
    Duration: 18 Aug 200821 Aug 2008

    Publication series

    NameConference Proceeding Series
    PublisherAIAA
    Number10
    Volume13

    Conference

    ConferenceAIAA Guidance, Navigation and Control Conference and Exhibit 2008
    CountryUnited States
    CityHonolulu
    Period18/08/0821/08/08

    Keywords

    • EWI-14020
    • IR-62521
    • MSC-93A14
    • METIS-252093

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