Bernhard, Sebastian ; Khodaverdian, Saman ; Adamy, Jürgen (2018)
Optimal Stationary Synchronization of Heterogeneous Linear Multi-Agent Systems.
2018 American Control Conference. Milwaukee, USA (27.06.2018-29.06.2018)
doi: 10.23919/ACC.2018.8430850
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
In this paper, we address the output synchronization of heterogeneous linear networks. In the literature, all agents are typically required to synchronize exactly to a common trajectory. Here, we introduce optimal stationary synchronization (OSS) instead which permits non-zero steady-state synchronization errors. As a benefit, we are able to relax standard requirements. E.g., agents are allowed to participate in the network even when they usually cannot synchronize exactly. In addition, OSS enables agents to save input-energy by synchronizing within tolerable error-bounds. Our new method combines the synchronization of bounded exosystems with local infinite-time linear quadratic tracking (LQT). This results in an optimal balance of each agent's synchronization error versus its consumed input-energy. Moreover, we extend recent results in LQT such that the derived time-invariant optimal control guarantees that the synchronization error satisfies given strict bounds. All these aspects are demonstrated by an illustrative simulation example with a detailed analysis
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2018 |
| Autor(en): | Bernhard, Sebastian ; Khodaverdian, Saman ; Adamy, Jürgen |
| Art des Eintrags: | Bibliographie |
| Titel: | Optimal Stationary Synchronization of Heterogeneous Linear Multi-Agent Systems |
| Sprache: | Englisch |
| Publikationsjahr: | 16 August 2018 |
| Verlag: | IEEE |
| Buchtitel: | 2018 Annual American Control Conference (ACC) |
| Veranstaltungstitel: | 2018 American Control Conference |
| Veranstaltungsort: | Milwaukee, USA |
| Veranstaltungsdatum: | 27.06.2018-29.06.2018 |
| DOI: | 10.23919/ACC.2018.8430850 |
| Kurzbeschreibung (Abstract): | In this paper, we address the output synchronization of heterogeneous linear networks. In the literature, all agents are typically required to synchronize exactly to a common trajectory. Here, we introduce optimal stationary synchronization (OSS) instead which permits non-zero steady-state synchronization errors. As a benefit, we are able to relax standard requirements. E.g., agents are allowed to participate in the network even when they usually cannot synchronize exactly. In addition, OSS enables agents to save input-energy by synchronizing within tolerable error-bounds. Our new method combines the synchronization of bounded exosystems with local infinite-time linear quadratic tracking (LQT). This results in an optimal balance of each agent's synchronization error versus its consumed input-energy. Moreover, we extend recent results in LQT such that the derived time-invariant optimal control guarantees that the synchronization error satisfies given strict bounds. All these aspects are demonstrated by an illustrative simulation example with a detailed analysis |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik > Regelungsmethoden und Robotik (ab 01.08.2022 umbenannt in Regelungsmethoden und Intelligente Systeme) |
| Hinterlegungsdatum: | 25 Okt 2017 07:28 |
| Letzte Änderung: | 03 Apr 2023 10:15 |
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