Search results for " decentralized control"
showing 4 items of 4 documents
Non-linear protocols for optimal distributed consensus in networks of dynamic agents
2006
We consider stationary consensus protocols for networks of dynamic agents with fixed topologies. At each time instant, each agent knows only its and its neighbors'' state, but must reach consensus on a group decision value that is function of all the agents'' initial state. We show that the agents can reach consensus if the value of such a function is time-invariant when computed over the agents'' state trajectories. We use this basic result to introduce a non-linear protocol design rule allowing consensus on a quite general set of values. Such a set includes, e.g., any generalized mean of order p of the agents'' initial states. As a second contribution we show that our protocol design is t…
LPV model identification for gain scheduling control: An application to rotating stall and surge control problem
2006
Abstract We approach the problem of identifying a nonlinear plant by parameterizing its dynamics as a linear parameter varying (LPV) model. The system under consideration is the Moore–Greitzer model which captures surge and stall phenomena in compressors. The control task is formulated as a problem of output regulation at various set points (stable and unstable) of the system under inputs and states constraints. We assume that inputs, outputs and scheduling parameters are measurable. It is worth pointing out that the adopted technique allows for identification of an LPV model's coefficients without the requirements of slow variations amongst set points. An example of combined identification…
Density Flow in Dynamical Networks via Mean-Field Games
2016
Current distributed routing control algorithms for dynamic networks model networks using the time evolution of density at network edges, while the routing control algorithm ensures edge density to converge to a Wardrop equilibrium, which was characterized by an equal traffic density on all used paths. We rearrange the density model to recast the problem within the framework of mean-field games. In doing that, we illustrate an extended state-space solution approach and we study the stochastic case where the density evolution is driven by a Brownian motion. Further, we investigate the case where the density evolution is perturbed by a bounded adversarial disturbance. For both the stochastic a…
MR3090050 Reviewed Belabbas, Mohamed Ali On global stability of planar formations. IEEE Trans. Automat. Control 58 (2013), no. 8, 2148–2153. (Reviewe…
2014
The focus of the paper is planar formation control, i.e. the design of control laws to stabilize agents at given distances from each other, under the constraint that the dynamics of each agent only depends on a subset of the other agents. The main contribution of the paper is the following: It is shown that a simple four-agent formation cannot be globally stabilized using twice differentiable control laws (this is not the case for three-agent formations), even up to sets of measure zero of initial conditions. This suggests that for four-agent formations one needs to look for control laws that are either not differentiable (or even not continuous) or of higher order in the dynamics. The appr…