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

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Wan, Yan and Roy, Sandip and Saberi, Ali and Stoorvogel, Anton (2010) The design of multi-lead-compensators for stabilization and pole placement in double-integrator networks. IEEE transactions on Automatic Control, 55 (12). pp. 2870-2875. ISSN 0018-9286

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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 while subdividing complexity/actuation among the agents. Through a scaling argument, we also demonstrate that the multi-lead-compensator can stabilize the double-integrator network under actuator saturation constraints.
Item Type:Article
Copyright:© 2010 IEEE
Faculty:
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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Link to this item:http://purl.utwente.nl/publications/75725
Official URL:http://dx.doi.org/10.1109/TAC.2010.2073010
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