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

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

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    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 while subdividing complexity/actuation among the agents. Through a scaling argument, we also demonstrate that the multi-lead-compensator can stabilize the double-integrator network under actuator saturation constraints.
    Original languageUndefined
    Pages (from-to)2870-2875
    Number of pages6
    JournalIEEE transactions on automatic control
    Volume55
    Issue number12
    DOIs
    Publication statusPublished - Dec 2010

    Keywords

    • Stabilization
    • pole placement
    • EWI-19340
    • Saturation
    • IR-75725
    • Decentralized Control
    • Lead Compensator
    • METIS-276298

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