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Distributed control of LPV systems over arbitrary graphs with communication latency
Author(s) -
Farhood Mazen
Publication year - 2017
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3950
Subject(s) - latency (audio) , computer science , control theory (sociology) , lyapunov function , distributed computing , discrete time and continuous time , controller (irrigation) , graph theory , graph , norm (philosophy) , topology (electrical circuits) , control engineering , control (management) , engineering , mathematics , theoretical computer science , nonlinear system , telecommunications , artificial intelligence , statistics , physics , electrical engineering , quantum mechanics , combinatorics , agronomy , biology , law , political science
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.