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


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Wan, Yan and Roy, Sandip and Saberi, Ali and Stoorvogel, Anton (2009) The design of multi-lead-compensators for stabilization and pole placement in double-integrator networks under saturation. In: American Control Conference, ACC 2009, 10-12 June 2009, St. Louis, MO, USA.

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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. Through a scaling argument, we also demonstrate that the multi-lead-compensator can stabilize the double-integrator network under actuator saturation constraints. The multilead-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.
Item Type:Conference or Workshop Item
Copyright:© 2009 IEEE
Faculty:
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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Link to this item:http://purl.utwente.nl/publications/65523
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