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Distributed H_∞ PID Feedback for Improving Consensus Performance of Arbitrary-delayed Multi-agent System

Distributed H_∞ PID Feedback for Improving Consensus Performance of Arbitrary-delayed Multi-agent System
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摘要 The H∞ proportional-integral-differential(PID) feedback for arbitrary-order delayed multi-agent system is investigated to improve the system performance. The closed-loop multi-input multi-output(MIMO) control framework with the distributed PID controller is firstly described for the multi-agent system in a unified way. Then, by using the matrix theory, the prescribed H∞performance criterion of the multi-agent system is shown to be equivalent to several independent H∞ performance constraints of the single-input single-output(SISO) subsystem with respect to the eigenvalues of the Laplacian matrix. Subsequently, for each subsystem,the set of the PID controllers satisfying the required H∞ performance constraint is analytically characterized based on the extended Hermite-Biehler theorem. Finally, the three-dimensional set of the decentralized H∞ PID control parameters is derived by finding the intersection of the H∞ PID regions for all the decomposed subsystems. The simulation results reveal the effectiveness of the proposed method. The H∞ proportional-integral-differential(PID) feedback for arbitrary-order delayed multi-agent system is investigated to improve the system performance. The closed-loop multi-input multi-output(MIMO) control framework with the distributed PID controller is firstly described for the multi-agent system in a unified way. Then, by using the matrix theory, the prescribed H∞performance criterion of the multi-agent system is shown to be equivalent to several independent H∞ performance constraints of the single-input single-output(SISO) subsystem with respect to the eigenvalues of the Laplacian matrix. Subsequently, for each subsystem,the set of the PID controllers satisfying the required H∞ performance constraint is analytically characterized based on the extended Hermite-Biehler theorem. Finally, the three-dimensional set of the decentralized H∞ PID control parameters is derived by finding the intersection of the H∞ PID regions for all the decomposed subsystems. The simulation results reveal the effectiveness of the proposed method.
出处 《International Journal of Automation and computing》 EI CSCD 2014年第2期189-196,共8页 国际自动化与计算杂志(英文版)
基金 supported by National Natural Science Foundationof China(Nos.61273116 and 61074039) National Natural ScienceFund for Distinguished Young Scholar of China(No.61026016) Natural Science Foundation of Zhejiang Province(No.Y1111012)
关键词 Multi-agent system proportional-integral-differential(PID) controller H∞ performance index parametric space consensus. Multi-agent system,proportional-integral-differential(PID) controller,H∞ performance index,parametric space,consensus.
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