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Conference Papers Year : 2017

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

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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.
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Dates and versions

hal-01667823 , version 1 (19-12-2017)

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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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