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Volume 11 Issue 2
April  2014
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Lin-Lin Ou, Jun-Jie Chen, Dong-Mei Zhang and Wei-Dong Zhang. Distributed H∞ PID Feedback for Improving Consensus Performance of Arbitrary-delayed Multi-agent System. International Journal of Automation and Computing, vol. 11, no. 2, pp. 189-196, 2014. https://doi.org/10.1007/s11633-014-0780-y
Citation: Lin-Lin Ou, Jun-Jie Chen, Dong-Mei Zhang and Wei-Dong Zhang. Distributed H∞ PID Feedback for Improving Consensus Performance of Arbitrary-delayed Multi-agent System. International Journal of Automation and Computing, vol. 11, no. 2, pp. 189-196, 2014. https://doi.org/10.1007/s11633-014-0780-y
shu

Distributed H∞ PID Feedback for Improving Consensus Performance of Arbitrary-delayed Multi-agent System

doi: 10.1007/s11633-014-0780-y

  • Department of Automation, Zhejiang University of Technology, Hangzhou 310032, China;

  • Department of Automation, Shanghai Jiaotong University, Shanghai, 200240, China

Funds:

This work was supported by National Natural Science Foundation of China (Nos.61273116 and 61074039), National Natural Science Fund for Distinguished Young Scholar of China (No.61026016), and Natural Science Foundation of Zhejiang Province (No.Y1111012).

  • Received Date: 2013-04-01
  • Rev Recd Date: 2013-06-25
  • Publish Date: 2014-04-01
    Abstract
  • The H∞ proportional-integral-differential (PID) feedback for arbitrary-order delayed multi-agent system is investigated to improve the system performance. The closed-loop multi-input multi-output (MIMO) control framework with the distributed PID controller is firstly described for the multi-agent system in a unified way. Then, by using the matrix theory, the prescribed H∞ performance criterion of the multi-agent system is shown to be equivalent to several independent H∞ performance constraints of the single-input single-output (SISO) subsystem with respect to the eigenvalues of the Laplacian matrix. Subsequently, for each subsystem, the set of the PID controllers satisfying the required H∞ performance constraint is analytically characterized based on the extended Hermite-Biehler theorem. Finally, the three-dimensional set of the decentralized H∞ PID control parameters is derived by finding the intersection of the H∞ PID regions for all the decomposed subsystems. The simulation results reveal the effectiveness of the proposed method.

     

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