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
Type de document :
Communication dans un congrès
14th International Conference on Informatics in Control, Automation and Robotics (ICINCO), Jul 2017, Madrid, Spain. 2017, Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics. 〈10.5220/0006420500720081 〉
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Soumis le : mardi 19 décembre 2017 - 15:59:37
Dernière modification le : lundi 22 octobre 2018 - 09:56:03

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CENTRALESUPELEC | SUP_LSS | SUP_SYSTEMES | TDS-MACS | L2S | UNIV-PARIS-SACLAY

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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. 2017, Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics. 〈10.5220/0006420500720081 〉. 〈hal-01667823〉

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