Distributed Control of Networked Dynamical Systems: Static Feedback, Integral Action and Consensus
Distributed Control of Networked Dynamical Systems: Static Feedback, Integral Action and Consensus
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DOI：
10.1109/tac.2014.2309281
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发表时间：
2013-10
影响因子：
6.8
通讯作者：
Martin Andreasson;Dimos V. Dimarogonas;H. Sandberg;K. Johansson
中科院分区：
文献类型：
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作者：
Martin Andreasson;Dimos V. Dimarogonas;H. Sandberg;K. Johansson
本文分析了一阶和二阶网络动力系统的分布式控制协议。我们提出了一类非线性共识控制器，其中每个智能体的输入可以写成非线性增益和非线性交互函数和的乘积。利用积分Lyapunov函数证明了所提控制协议的稳定性，并明确地描述了平衡集。我们还提出了一种用于网络动力系统的分布式比例积分（PI）控制器。PI控制器成功地衰减了网络中的恒定扰动。我们证明了具有单积分器动态的智能体对于任何积分增益都是稳定的，并给出了系统对于具有双积分器动态的智能体稳定时的积分增益的一个显式紧上界。本文通过对自主卫星、电力系统和建筑温度控制的实际仿真，重点介绍了所提出的控制器的一些可能的应用。
This paper analyzes distributed control protocols for first- and second-order networked dynamical systems. We propose a class of nonlinear consensus controllers where the input of each agent can be written as a product of a nonlinear gain, and a sum of nonlinear interaction functions. By using integral Lyapunov functions, we prove the stability of the proposed control protocols, and explicitly characterize the equilibrium set. We also propose a distributed proportional-integral (PI) controller for networked dynamical systems. The PI controllers successfully attenuate constant disturbances in the network. We prove that agents with single-integrator dynamics are stable for any integral gain, and give an explicit tight upper bound on the integral gain for when the system is stable for agents with double-integrator dynamics. Throughout the paper we highlight some possible applications of the proposed controllers by realistic simulations of autonomous satellites, power systems and building temperature control.