Performance bounds for multi-vehicle networks with local integrators
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arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866917808655302656 |
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| author | Hansson, Jonas Tegling, Emma |
| author_facet | Hansson, Jonas Tegling, Emma |
| contents | In this work, we consider the problem of coordinating a collection of $n$th-order integrator systems. The coordination is achieved through the novel serial-consensus design, which can be seen as a method for achieving a stable closed-loop while only using local relative measurements. Earlier work has shown that second-order serial consensus can stabilize a collection of double integrators with scalable performance conditions, independent of the number of agents and topology. In this paper, we generalize these performance results to an arbitrary order $n\geq 1$. The derived performance bound depends on the condition number, measured in the vector-induced maximum matrix norm, of a general diagonalizing matrix. We provide an exact characterization of how a minimal condition number can be achieved. Third-order serial consensus is illustrated through a case study of PI-controlled vehicular formation, where the added integrators are used to mitigate the effect of unmeasured load disturbances. The theoretical results are illustrated through examples. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_14525 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Performance bounds for multi-vehicle networks with local integrators Hansson, Jonas Tegling, Emma Optimization and Control Systems and Control In this work, we consider the problem of coordinating a collection of $n$th-order integrator systems. The coordination is achieved through the novel serial-consensus design, which can be seen as a method for achieving a stable closed-loop while only using local relative measurements. Earlier work has shown that second-order serial consensus can stabilize a collection of double integrators with scalable performance conditions, independent of the number of agents and topology. In this paper, we generalize these performance results to an arbitrary order $n\geq 1$. The derived performance bound depends on the condition number, measured in the vector-induced maximum matrix norm, of a general diagonalizing matrix. We provide an exact characterization of how a minimal condition number can be achieved. Third-order serial consensus is illustrated through a case study of PI-controlled vehicular formation, where the added integrators are used to mitigate the effect of unmeasured load disturbances. The theoretical results are illustrated through examples. |
| title | Performance bounds for multi-vehicle networks with local integrators |
| topic | Optimization and Control Systems and Control |
| url | https://arxiv.org/abs/2410.14525 |