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

Nicolo Gionfra; Guillaume Sandou; Houria Siguerdidjane; Damien Faille

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

Document type :

Conference papers

Domain :

Engineering Sciences [physics] / Automatic

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https://hal-centralesupelec.archives-ouvertes.fr/hal-01667823
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Submitted on : Tuesday, December 19, 2017 - 3:59:37 PM
Last modification on : Wednesday, June 5, 2019 - 10:38:03 AM

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