TY - GEN
T1 - A Distributed Reference Governor for High-Order LTI Swarm Systems
AU - Nguyen, Tam
AU - Nakano, Satoshi
AU - Hatanaka, Takeshi
AU - Garone, Emanuele
AU - Fujita, Masayuki
N1 - Publisher Copyright:
© 2018 AACC.
PY - 2018/8/9
Y1 - 2018/8/9
N2 - This paper focuses on the constrained control of high-order linear-time invariant (LTI) swarm systems. In particular, the system is first locally pre-stabilized using a proportional-integral control law and the stability property of the controlled system is proved using swarm stability arguments. Then, we show that, under certain conditions, the pre-stabilized system systematically admits a candidate Lyapunov function and an associate upper-bound function which is related to the constraints. Then, we propose a set invariance-based distributed Reference Governor (RG) to modify the reference such that the trajectories of the agents do not violate the constraints at each time instant. Furthermore, we show that the performance of the proposed RG scheme can be improved using a phase-lead compensator. Numerical examples are provided to demonstrate the effectiveness of the proposed method.
AB - This paper focuses on the constrained control of high-order linear-time invariant (LTI) swarm systems. In particular, the system is first locally pre-stabilized using a proportional-integral control law and the stability property of the controlled system is proved using swarm stability arguments. Then, we show that, under certain conditions, the pre-stabilized system systematically admits a candidate Lyapunov function and an associate upper-bound function which is related to the constraints. Then, we propose a set invariance-based distributed Reference Governor (RG) to modify the reference such that the trajectories of the agents do not violate the constraints at each time instant. Furthermore, we show that the performance of the proposed RG scheme can be improved using a phase-lead compensator. Numerical examples are provided to demonstrate the effectiveness of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=85052573914&partnerID=8YFLogxK
U2 - 10.23919/ACC.2018.8430863
DO - 10.23919/ACC.2018.8430863
M3 - 会議への寄与
AN - SCOPUS:85052573914
SN - 9781538654286
T3 - Proceedings of the American Control Conference
SP - 4925
EP - 4930
BT - 2018 Annual American Control Conference, ACC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 Annual American Control Conference, ACC 2018
Y2 - 27 June 2018 through 29 June 2018
ER -