DocumentCode :
2468152
Title :
The design of multi-lead-compensators for stabilization and pole placement in double-integrator networks under saturation
Author :
Wan, Yan ; Roy, Sandip ; Saberi, Ali ; Stoorvogel, Anton
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., Washington State Univ., Washington, DC, USA
fYear :
2009
fDate :
10-12 June 2009
Firstpage :
3512
Lastpage :
3518
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 multi-lead-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.
Keywords :
compensation; control system synthesis; pole assignment; stability; actuator saturation constraints; arbitrary observation topology; autonomous agents; derivative-approximation compensator; double-integrator internal dynamics; double-integrator networks; multilead compensators design; pole placement; scaling argument; stabilization; Actuators; Aerodynamics; Autonomous agents; Computer science; Control systems; Linear feedback control systems; Network topology; Robustness; Stability; State feedback;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 2009. ACC '09.
Conference_Location :
St. Louis, MO
ISSN :
0743-1619
Print_ISBN :
978-1-4244-4523-3
Electronic_ISBN :
0743-1619
Type :
conf
DOI :
10.1109/ACC.2009.5160265
Filename :
5160265
Link To Document :
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