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

Fingerprint

Poles
Stabilization
Lead
Autonomous agents
Actuators
Topology
Derivatives
Data storage equipment
Controllers

Keywords

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

Cite this

Wan, Yan ; Roy, Sandip ; Saberi, Ali ; Stoorvogel, Antonie Arij. / The design of multi-lead-compensators for stabilization and pole placement in double-integrator networks under saturation. Proceedings of the 2009 American Control Conference. IEEE, 2009. pp. 3512-3518
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Wan, Y, Roy, S, Saberi, A & Stoorvogel, AA 2009, The design of multi-lead-compensators for stabilization and pole placement in double-integrator networks under saturation. in Proceedings of the 2009 American Control Conference. IEEE, pp. 3512-3518, 2009 American Control Conference, ACC 2009, St. Louis, United States, 10/06/09. https://doi.org/10.1109/ACC.2009.5160265

The design of multi-lead-compensators for stabilization and pole placement in double-integrator networks under saturation. / Wan, Yan; Roy, Sandip; Saberi, Ali; Stoorvogel, Antonie Arij.

Proceedings of the 2009 American Control Conference. IEEE, 2009. p. 3512-3518.

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

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AB - 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.

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