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

Nicolò Gionfra, Guillaume Sandou, Houria Siguerdidjane, Damien Faille

2017

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.

Paper Citation

in Harvard Style

Gionfra N., Sandou G., Siguerdidjane H. and Faille D. (2017). A Distributed PID-like Consensus Control for Discrete-time Multi-agent Systems . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-263-9, pages 72-81. DOI: 10.5220/0006420500720081

in Bibtex Style

@conference{icinco17,
author={Nicolò Gionfra and Guillaume Sandou and Houria Siguerdidjane and Damien Faille},
title={A Distributed PID-like Consensus Control for Discrete-time Multi-agent Systems},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2017},
pages={72-81},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006420500720081},
isbn={978-989-758-263-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A Distributed PID-like Consensus Control for Discrete-time Multi-agent Systems
SN - 978-989-758-263-9
AU - Gionfra N.
AU - Sandou G.
AU - Siguerdidjane H.
AU - Faille D.
PY - 2017
SP - 72
EP - 81
DO - 10.5220/0006420500720081