The design of multi-lead-compensators for stabilization and pole placement in double-integrator networks under saturation

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

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

    7 Citations (Scopus)

    Abstract

    We study decentralized controller design for stabilization and pole-placement, in a network of autonomous agents with double-integrator internal dynamics and arbitrary observation topology. We show that a simple multi-lead-compensator architecture, in particular one in which each agent uses a derivative-approximation compensator with three memory elements, can achieve both stabilization and effective pole placement. Through a scaling argument, we also demonstrate that the multi-lead-compensator can stabilize the double-integrator network under actuator saturation constraints. The multilead-compensator design is practical for modern dynamical network applications, in that it subdivides actuation effort and complexity among the agents and in many cases is robust to agent failure.
    Original languageEnglish
    Title of host publicationProceedings of the 2009 American Control Conference
    PublisherIEEE
    Pages3512-3518
    Number of pages7
    ISBN (Print)978-1-4244-4524-0
    DOIs
    Publication statusPublished - 10 Jun 2009
    Event2009 American Control Conference, ACC 2009 - St. Louis, United States
    Duration: 10 Jun 200912 Jun 2009

    Conference

    Conference2009 American Control Conference, ACC 2009
    Abbreviated titleACC
    CountryUnited States
    CitySt. Louis
    Period10/06/0912/06/09

    Keywords

    • EWI-15426
    • IR-65523
    • METIS-263881

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