A Distributed PID-like Consensus Control for Discrete-time Multi-agent Systems

Nicolo Gionfra 1 Guillaume Sandou 1 Houria Siguerdidjane 1 Damien Faille 2
1 L2S - Laboratoire des signaux et systèmes
2 EDF R&D STEP - Simulation et Traitement de l'information pour l'Exploitation des systèmes de Production
Abstract : The problem of discrete-time multi-agent systems governed by general MIMO dynamics is addressed. By employing a PID-like distributed protocol, we aim to solve two relevant consensus problems, namely the leaderless consensus under disturbances and leader-follower under time-varying reference state ones. Sufficient conditions for stability as well as two LMI approaches to tune the controller gains are provided. The latter are either based on a H∞ formulation of the problem or on fast response to a reference exogenous signal. Numerical simulations give some insight of which tuning should be considered according to the problem addressed.
Keywords : Multi-agent Systems Consensus Control Discrete-Time LTI Systems
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Conference papers
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Submitted on : Tuesday, December 19, 2017 - 3:59:37 PM
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CENTRALESUPELEC | SUP_LSS | SUP_SYSTEMES | CNRS | TDS-MACS | L2S | UNIV-PARIS-SACLAY | EDF

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Nicolo Gionfra, Guillaume Sandou, Houria Siguerdidjane, Damien Faille. A Distributed PID-like Consensus Control for Discrete-time Multi-agent Systems. 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO), Jul 2017, Madrid, Spain. ⟨10.5220/0006420500720081 ⟩. ⟨hal-01667823⟩

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