Distributed control of LPV systems over arbitrary graphs with communication latency. (3rd October 2017)

• Record Type: Journal Article
• Authors: Farhood, Mazen
• Is Part Of: International journal of robust and nonlinear control. Volume 28:Number 4(2018)
• Page Start: 1281
• Page End: 1302
• Publication Date: 2017-10-03
• Subjects: arbitrary graph -- distributed control -- H∞ control -- leader‐follower formation control -- linear parameter‐varying systems; Automatic control -- Periodicals; Control theory -- Periodicals; Nonlinear systems -- Periodicals; 629.836
• DOI: 10.1002/rnc.3950
• Languages: English
• ISSNs: 1049-8923

Abstract

Summary: This paper focuses on spatially distributed control systems where the controller sensing and actuation topology is inherited from that of the plant. Specifically, this paper considers distributed systems composed of discrete‐time linear parameter‐varying subsystems interconnected over general graph structures. These distributed systems are subject to a communication latency of one sampling period, where the information sent by a subsystem at the current time step is received by the target subsystem at the next time step. Analysis and synthesis conditions are derived for control design in this setting using a parameter‐dependent Lyapunov approach with the ℓ 2 ‐induced norm as the performance measure. Fast and easy‐to‐implement algorithms are also provided for constructing the controller in real time. The techniques developed are finally applied to a leader‐follower formation problem with intermittent communications.