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

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.

Mots clés: Multi-agent Systems; Consensus Control; Discrete-Time LTI Systems

Domaines: Automatique / Robotique

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⟩