A multiple-derivative and multiple-delay paradigm for decentralized controller design: Introduction using the canonical double-integrator network


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Wan, Yan and Roy, Sandip and Saberi, Ali and Stoorvogel, Anton (2008) A multiple-derivative and multiple-delay paradigm for decentralized controller design: Introduction using the canonical double-integrator network. In: AIAA Guidance, Navigation, and Control Conference, 18-21 Aug 2008, Honolulu, Hawaii.

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Abstract:We are engaged in a major effort to design decentralized controllers for modern networks, that is fundamentally based on 1) applying feedback of multiple derivatives of local observations and 2) implementing these derivative feedbacks using multiple-delay controllers. Here, we fully motivate and introduce the design paradigm in the context of a canonical sensing-network model, namely a network of saturating double integrators with general sensing topology that is subject to measurement delays. In this context, we illustrate that our design paradigm yields practical high-performance (in particular, group pole-placement) decentralized controllers that exploit the network topology while distributing the complexity and actuation requirements among the agents.
Item Type:Conference or Workshop Item
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Electrical Engineering, Mathematics and Computer Science (EEMCS)
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Link to this item:http://purl.utwente.nl/publications/62521
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