A Multiplex Approach Against Disturbance Propagation in Nonlinear Networks with Delays
Fuente:
arXiv
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| Hauptverfasser: | , |
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| Format: | Preprint |
| Veröffentlicht: |
2022
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| _version_ | 1866914672311009280 |
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| author | Xie, Shihao Russo, Giovanni |
| author_facet | Xie, Shihao Russo, Giovanni |
| contents | We consider both leaderless and leader-follower, possibly nonlinear, networks affected by time-varying communication delays. For such systems, we give a set of sufficient conditions that guarantee the convergence of the network towards some desired behaviour while simultaneously ensuring the rejection of polynomial disturbances and the non-amplification of other classes of disturbances across the network. To fulfill these desired properties, and prove our main results, we propose the use of a control protocol that implements a multiplex architecture. The use of our results for control protocol design is then illustrated in the context of formation control. The protocols are validated both in-silico and via an experimental set-up with real robots. All experiments confirm the effectiveness of our approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2206_03535 |
| institution | arXiv |
| publishDate | 2022 |
| record_format | arxiv |
| spellingShingle | A Multiplex Approach Against Disturbance Propagation in Nonlinear Networks with Delays Xie, Shihao Russo, Giovanni Systems and Control 93C10, 93D05, 93A15 We consider both leaderless and leader-follower, possibly nonlinear, networks affected by time-varying communication delays. For such systems, we give a set of sufficient conditions that guarantee the convergence of the network towards some desired behaviour while simultaneously ensuring the rejection of polynomial disturbances and the non-amplification of other classes of disturbances across the network. To fulfill these desired properties, and prove our main results, we propose the use of a control protocol that implements a multiplex architecture. The use of our results for control protocol design is then illustrated in the context of formation control. The protocols are validated both in-silico and via an experimental set-up with real robots. All experiments confirm the effectiveness of our approach. |
| title | A Multiplex Approach Against Disturbance Propagation in Nonlinear Networks with Delays |
| topic | Systems and Control 93C10, 93D05, 93A15 |
| url | https://arxiv.org/abs/2206.03535 |