ข้อมูลเชิงลึก - Control Systems - # Consensus Control Strategies

Robust Integral Consensus Control of Multi-Agent Networks with Matched and Unmatched Disturbances

Q: How do these proposed control strategies compare to existing methods in terms of complexity and performance

The proposed control strategies in the context provided offer a significant advantage over existing methods in terms of complexity and performance. The use of simple continuous controllers with integral actions simplifies the design process and implementation, making it more accessible to practitioners without sacrificing performance. By incorporating integral actions into the controllers, the system can effectively handle disturbances while ensuring consensus or synchronization among agents. This approach eliminates the need for complex adaptive or robust control techniques typically used in similar scenarios. In terms of complexity, the proposed controllers are straightforward and easy to implement compared to existing methods that rely on discontinuous or high-gain adaptive observers combined with discontinuous sliding mode controllers. The simplicity of these new strategies allows for easier deployment and maintenance in real-world applications. Performance-wise, the proposed control strategies demonstrate robustness against both matched and unmatched disturbances while achieving dynamic consensus or synchronization within multi-agent systems perturbed by external factors. The rigorous stability analysis based on Lyapunov's direct method ensures that the system operates reliably under various conditions.

Q: What are the implications of using simple continuous controllers with integral actions compared to more complex designs

Using simple continuous controllers with integral actions offers several advantages over more complex designs in this context. Firstly, these simpler controllers provide a more intuitive understanding of how disturbances are handled within the system. By incorporating integral actions directly into the controller structure, it becomes easier to compensate for disturbances without introducing unnecessary complexity. Additionally, simple continuous controllers with integral actions tend to produce smoother control signals compared to complex designs involving discontinuous elements like high-gain adaptive observers or sliding mode controllers. This smoothness helps reduce chattering effects on actuators, improving overall system performance and longevity. Moreover, simpler controller designs are often more cost-effective to implement and maintain in real-world applications. They require less computational resources and calibration efforts while still delivering robust performance under varying operating conditions.

Q: How can these findings be applied to real-world applications beyond multi-agent systems

The findings from this research have broad implications for real-world applications beyond multi-agent systems. One key application area is autonomous vehicles where consensus among vehicles is crucial for safe operation on roads or coordinated movements in logistics settings. By applying these control strategies, autonomous vehicle fleets can achieve dynamic consensus even when faced with external disturbances such as changing road conditions or traffic patterns. Another potential application is smart grid management where multiple power sources need to coordinate their operations efficiently despite uncertainties like fluctuating energy demands or renewable energy availability variations due to weather changes. Implementing these control strategies can help ensure synchronization among different components of a smart grid network while handling unexpected disruptions seamlessly. Furthermore, industrial automation processes could benefit from these findings by enabling collaborative robotics systems to work together effectively towards common goals even when subjected to environmental disturbances or operational challenges.

แนวคิดหลัก

New robust controllers for consensus and synchronization in multi-agent systems under disturbances.

บทคัดย่อ

The article introduces a method for designing consensus controllers for double integrator systems in multi-agent networks perturbed by matched and unmatched disturbances. It focuses on directed graphs with rooted spanning trees, proposing simple continuous controllers with integral actions to handle disturbances. Stability analysis is based on Lyapunov's direct method. The paper addresses the challenges posed by directed graphs compared to undirected ones, highlighting the importance of modeling information exchange realistically. Various robust consensus controllers are discussed, emphasizing the significance of a rooted spanning tree in achieving consensus. The article also delves into control strategies for unknown matched and unmatched disturbances, presenting solutions that avoid chattering effects on actuators. Simulations validate the proposed methods' performance.

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arxiv.org

สถิติ

This work is supported in part by the Research Grants Council (RGC) of Hong Kong under grant 15212721 and grant 15231023.
γ1 = 6, γ2 = 17, γ3 = 4, b = 10 for matched disturbances.
α1 = kd = 7.5, ν = 3, ks = 5, kx = 3.4 for unmatched disturbances.

คำพูด

"We propose new robust controllers to solve the consensus and synchronization problems when the systems are under the effects of matched and unmatched disturbances."
"Examples that use this approach include consensus for linear systems, second-order heterogeneous systems, uncertain multi-agent linear systems."
"The proposed integral action has the same structure as used in [11] to reject disturbances in a multi-agent system composed of nonholonomic robots."

ข้อมูลเชิงลึกที่สำคัญจาก

Robust Integral Consensus Control of Multi-Agent Networks Perturbed by Matched and Unmatched Disturbances

by Jose Guadalu... ที่ arxiv.org 03-26-2024

https://arxiv.org/pdf/2310.00262.pdf

Robust Integral Consensus Control of Multi-Agent Networks Perturbed by Matched and Unmatched Disturbances

สอบถามเพิ่มเติม

How do these proposed control strategies compare to existing methods in terms of complexity and performance

The proposed control strategies in the context provided offer a significant advantage over existing methods in terms of complexity and performance. The use of simple continuous controllers with integral actions simplifies the design process and implementation, making it more accessible to practitioners without sacrificing performance. By incorporating integral actions into the controllers, the system can effectively handle disturbances while ensuring consensus or synchronization among agents. This approach eliminates the need for complex adaptive or robust control techniques typically used in similar scenarios.
In terms of complexity, the proposed controllers are straightforward and easy to implement compared to existing methods that rely on discontinuous or high-gain adaptive observers combined with discontinuous sliding mode controllers. The simplicity of these new strategies allows for easier deployment and maintenance in real-world applications.
Performance-wise, the proposed control strategies demonstrate robustness against both matched and unmatched disturbances while achieving dynamic consensus or synchronization within multi-agent systems perturbed by external factors. The rigorous stability analysis based on Lyapunov's direct method ensures that the system operates reliably under various conditions.

What are the implications of using simple continuous controllers with integral actions compared to more complex designs

Using simple continuous controllers with integral actions offers several advantages over more complex designs in this context. Firstly, these simpler controllers provide a more intuitive understanding of how disturbances are handled within the system. By incorporating integral actions directly into the controller structure, it becomes easier to compensate for disturbances without introducing unnecessary complexity.
Additionally, simple continuous controllers with integral actions tend to produce smoother control signals compared to complex designs involving discontinuous elements like high-gain adaptive observers or sliding mode controllers. This smoothness helps reduce chattering effects on actuators, improving overall system performance and longevity.
Moreover, simpler controller designs are often more cost-effective to implement and maintain in real-world applications. They require less computational resources and calibration efforts while still delivering robust performance under varying operating conditions.

How can these findings be applied to real-world applications beyond multi-agent systems

The findings from this research have broad implications for real-world applications beyond multi-agent systems. One key application area is autonomous vehicles where consensus among vehicles is crucial for safe operation on roads or coordinated movements in logistics settings. By applying these control strategies, autonomous vehicle fleets can achieve dynamic consensus even when faced with external disturbances such as changing road conditions or traffic patterns.
Another potential application is smart grid management where multiple power sources need to coordinate their operations efficiently despite uncertainties like fluctuating energy demands or renewable energy availability variations due to weather changes. Implementing these control strategies can help ensure synchronization among different components of a smart grid network while handling unexpected disruptions seamlessly.
Furthermore, industrial automation processes could benefit from these findings by enabling collaborative robotics systems to work together effectively towards common goals even when subjected to environmental disturbances or operational challenges.