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Optimal Stationary Synchronization of Heterogeneous Linear Multi-Agent Systems

Bernhard, Sebastian ; Khodaverdian, Saman ; Adamy, Jürgen (2018)
Optimal Stationary Synchronization of Heterogeneous Linear Multi-Agent Systems.
2018 American Control Conference. Milwaukee, USA (27.-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.-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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