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A closed-loop design for scalable high-order consensus

Hansson, Jonas LU orcid and Tegling, Emma LU (2023) 62nd IEEE Conference on Decision and Control p.7388-7394
Abstract
This paper studies the problem of coordinating a group of nth-order integrator systems. As for the well-studied conventional consensus problem, we consider linear and distributed control with only local and relative measurements. We propose a closed-loop dynamic that we call serial consensus and prove it achieves nth order consensus regardless of model order and underlying network graph. This alleviates an important scalability limitation in conventional consensus dynamics of order n≥2, whereby they may lose stability if the underlying network grows. The distributed control law which achieves the desired closed loop dynamics is shown to be localized and obey the limitation to relative state measurements. Furthermore, through use of the... (More)
This paper studies the problem of coordinating a group of nth-order integrator systems. As for the well-studied conventional consensus problem, we consider linear and distributed control with only local and relative measurements. We propose a closed-loop dynamic that we call serial consensus and prove it achieves nth order consensus regardless of model order and underlying network graph. This alleviates an important scalability limitation in conventional consensus dynamics of order n≥2, whereby they may lose stability if the underlying network grows. The distributed control law which achieves the desired closed loop dynamics is shown to be localized and obey the limitation to relative state measurements. Furthermore, through use of the small-gain theorem, the serial consensus system is shown to be robust to both model and feedback uncertainties. We illustrate the theoretical results through examples. (Less)
Please use this url to cite or link to this publication:
author
and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
Proceedings of the IEEE Conference on Decision and Control
pages
8 pages
conference name
62nd IEEE Conference on Decision and Control
conference location
Singapore, Singapore
conference dates
2023-12-13 - 2023-12-15
external identifiers
  • scopus:85184815021
ISBN
979-835030124-3
DOI
10.1109/CDC49753.2023.10383265
project
WASP: Wallenberg AI, Autonomous Systems and Software Program at Lund University
language
English
LU publication?
yes
id
2656312d-c31a-4da9-b238-5192ad1fed70
alternative location
https://arxiv.org/abs/2304.12064
date added to LUP
2023-04-25 09:33:43
date last changed
2024-02-26 16:19:08
@inproceedings{2656312d-c31a-4da9-b238-5192ad1fed70,
  abstract     = {{This paper studies the problem of coordinating a group of nth-order integrator systems. As for the well-studied conventional consensus problem, we consider linear and distributed control with only local and relative measurements. We propose a closed-loop dynamic that we call serial consensus and prove it achieves nth order consensus regardless of model order and underlying network graph. This alleviates an important scalability limitation in conventional consensus dynamics of order n≥2, whereby they may lose stability if the underlying network grows. The distributed control law which achieves the desired closed loop dynamics is shown to be localized and obey the limitation to relative state measurements. Furthermore, through use of the small-gain theorem, the serial consensus system is shown to be robust to both model and feedback uncertainties. We illustrate the theoretical results through examples.}},
  author       = {{Hansson, Jonas and Tegling, Emma}},
  booktitle    = {{Proceedings of the IEEE Conference on Decision and Control}},
  isbn         = {{979-835030124-3}},
  language     = {{eng}},
  pages        = {{7388--7394}},
  title        = {{A closed-loop design for scalable high-order consensus}},
  url          = {{http://dx.doi.org/10.1109/CDC49753.2023.10383265}},
  doi          = {{10.1109/CDC49753.2023.10383265}},
  year         = {{2023}},
}