Predictor-based consensus control of a multi-agent system with time-delays

Cao, Yiran; Oguchi, Toshiki; Verhoeckx, Paul B.; Nijmeijer, Henk

doi:10.1109/cca.2015.7320619

Cited by 6 publications

(4 citation statements)

References 9 publications

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“…A simple but effective approach to improve system tolerance of communicational misbehaviors is to add a stabilizer transfer function to all communication signals or data from neighbors before utilized by controllers. Compared to the techniques which compensate latencies by predictors [31,32], this method is much easier to be practically implemented. Consider the following transfer function:…”

Section: ) Impact Of Communication Stabilizermentioning

confidence: 99%

Small-Signal Stability Analysis and Performance Evaluation of Microgrids Under Distributed Control

Yan

Shi

Bian

et al. 2019

IEEE Trans. Smart Grid

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Distributed control, as a potential solution to decreasing communication demands in microgrids, has drawn much attention in recent years. Advantages of distributed control have been extensively discussed, while its impacts on microgrid performance and stability, especially in the case of communication latency, have not been explicitly studied or fully understood yet. This paper addresses this gap by proposing a generalized theoretical framework for small-signal stability analysis and performance evaluation for microgrids using distributed control. The proposed framework synthesizes generator and load frequency-domain characteristics, primary and secondary control loops, as well as the communication latency into a frequency-domain representation which is further evaluated by the generalized Nyquist theorem. In addition, various parameters and their impacts on microgrid dynamic performance are investigated and summarized into guidelines to help better design the system. Case studies demonstrate the effectiveness of the proposed approach.

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Section: ) Impact Of Communication Stabilizermentioning

confidence: 99%

Small-Signal Stability Analysis and Performance Evaluation of Microgrids Under Distributed Control

Yan

Shi

Bian

et al. 2019

IEEE Trans. Smart Grid

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show abstract

“…This research is an extended version of a conference paper [2] which was presented at the 2015 IEEE Multi-Conference on Systems and Control. This work was partially supported by the Japan Society for the Promotion of Science (JSPS) Grantin-Aid for Scientific Research (no.…”

Section: Acknowledgmentsmentioning

confidence: 99%

“…There are many potential applications for multirobot systems, including unmanned aerial vehicles, satellite clusters, automated highways, and search and rescue operations. Control tasks for robotic systems include consensus [1,2], flocking [3][4][5], formation control [6,7], and tracking [8][9][10]. Of these, consensus constitutes a fundamental problem for the coordination control of distributed systems.…”

Section: Introductionmentioning

confidence: 99%

“…Kojima et al used it for a tracking-control problem with time delay [17], as did Alvarez-Aguirre et al [18]. In our previous work [2], we used a controller based on this predictor [11] to solve the consensus problem of MASs in undirected graph networks with time delay and derived the corresponding consensus condition. In this paper, by extending the results, we show that the system achieves the average consensus, and the MASs with directed communication graph can also achieve consensus under the consensus condition.…”

Section: Introductionmentioning

confidence: 99%

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Consensus Control for a Multiagent System with Time Delays

Cao

Oguchi

Verhoeckx³

et al. 2017

Mathematical Problems in Engineering

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In this paper, we consider the consensus control problem for a multiagent system (MAS) consisting of integrator dynamics with input and output time delays. First, we investigate a consensus condition for the MAS with a linear controller and without any delay compensation. We then propose a consensus controller with a state predictor to compensate the effect of time delay. The consensus condition for this controller is derived and investigated. Finally, we present an example of solving the consensus control problem for two-wheel mobile robots with feedback loops that pass through a computer network with time delays. To demonstrate the validity of the predictor-based controller, we conduct experiments with two-wheel mobile robots and present the results.

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Anticipating Synchronization and State Predictor for Nonlinear Systems

Oguchi

2016

Nonlinear Systems

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Predictor-based consensus control of a multi-agent system with time-delays

Cited by 6 publications

References 9 publications

Small-Signal Stability Analysis and Performance Evaluation of Microgrids Under Distributed Control

Small-Signal Stability Analysis and Performance Evaluation of Microgrids Under Distributed Control

Consensus Control for a Multiagent System with Time Delays

Anticipating Synchronization and State Predictor for Nonlinear Systems

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