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Performance bounds for multi-vehicle networks with local integrators

Hansson, Jonas LU orcid and Tegling, Emma LU (2024) In IEEE Control Systems Letters 8. p.2901-2906
Abstract
In this work, we consider the problem of coordinating a collection of nth-order integrator systems. The coordination is achieved through the novel serial consensus design; this control design achieves a stable closed-loop system while adhering to the constraint of only using local and relative measurements. Earlier work has shown that second-order serial consensus can stabilize a collection of double integrators with scalable performance conditions independent of the number of agents and topology. This paper generalizes these performance results to an arbitrary order n≥ 1. The derived performance bounds depend on the condition number, measured in the vector-induced maximum matrix norm, of a general diagonalizing matrix. We precisely... (More)
In this work, we consider the problem of coordinating a collection of nth-order integrator systems. The coordination is achieved through the novel serial consensus design; this control design achieves a stable closed-loop system while adhering to the constraint of only using local and relative measurements. Earlier work has shown that second-order serial consensus can stabilize a collection of double integrators with scalable performance conditions independent of the number of agents and topology. This paper generalizes these performance results to an arbitrary order n≥ 1. The derived performance bounds depend on the condition number, measured in the vector-induced maximum matrix norm, of a general diagonalizing matrix. We precisely characterize how a minimal condition number can be achieved. Third-order serial consensus is illustrated through a case study of PI-controlled vehicular formation, where the added integrators are used to mitigate the effect of unmeasured load disturbances. The theoretical results are illustrated through examples. (Less)
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author
and
organization
publishing date
type
Contribution to journal
publication status
published
subject
in
IEEE Control Systems Letters
volume
8
pages
2901 - 2906
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • scopus:85212539662
ISSN
2475-1456
DOI
10.1109/LCSYS.2024.3518397
project
Performance, Controllability, and Robustness of Large-Scale and Non-Normal Network Systems
language
English
LU publication?
yes
id
f8af7899-3164-4c0a-bfdc-de50165dbc9c
alternative location
https://arxiv.org/pdf/2410.14525
date added to LUP
2024-12-13 08:52:03
date last changed
2025-04-23 20:35:47
@article{f8af7899-3164-4c0a-bfdc-de50165dbc9c,
  abstract     = {{In this work, we consider the problem of coordinating a collection of nth-order integrator systems. The coordination is achieved through the novel serial consensus design; this control design achieves a stable closed-loop system while adhering to the constraint of only using local and relative measurements. Earlier work has shown that second-order serial consensus can stabilize a collection of double integrators with scalable performance conditions independent of the number of agents and topology. This paper generalizes these performance results to an arbitrary order n≥ 1. The derived performance bounds depend on the condition number, measured in the vector-induced maximum matrix norm, of a general diagonalizing matrix. We precisely characterize how a minimal condition number can be achieved. Third-order serial consensus is illustrated through a case study of PI-controlled vehicular formation, where the added integrators are used to mitigate the effect of unmeasured load disturbances. The theoretical results are illustrated through examples.}},
  author       = {{Hansson, Jonas and Tegling, Emma}},
  issn         = {{2475-1456}},
  language     = {{eng}},
  pages        = {{2901--2906}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  series       = {{IEEE Control Systems Letters}},
  title        = {{Performance bounds for multi-vehicle networks with local integrators}},
  url          = {{http://dx.doi.org/10.1109/LCSYS.2024.3518397}},
  doi          = {{10.1109/LCSYS.2024.3518397}},
  volume       = {{8}},
  year         = {{2024}},
}