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.
|Title of host publication||Proceedings of the 2009 American Control Conference|
|Number of pages||7|
|Publication status||Published - 10 Jun 2009|
|Event||2009 American Control Conference, ACC 2009 - St. Louis, United States|
Duration: 10 Jun 2009 → 12 Jun 2009
|Conference||2009 American Control Conference, ACC 2009|
|Period||10/06/09 → 12/06/09|