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Stoorvogel A. A design for multi-lead-compensators for stabilization and pole placement in double-integrator networks (2009)
| Venue: | Proceedings of the 2009 American Control Conference, St |
| Citations: | 6 - 6 self |
BibTeX
@INPROCEEDINGS{Wan09stoorvogela.,
author = {Yan Wan and Ip Roy and Ali Saberi and Anton Stoorvogel and Senior Member},
title = {Stoorvogel A. A design for multi-lead-compensators for stabilization and pole placement in double-integrator networks},
booktitle = {Proceedings of the 2009 American Control Conference, St},
year = {2009}
}
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Abstract
Abstract—We study decentralized controller design for stabilization and pole-placement, in a network of autonomous agents with double-in-tegrator 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 place-ment 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. Index Terms—Decentralized control, lead compensator, pole placement, saturation, stabilization. I.
