A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 7 Issue 6
Oct.  2020

IEEE/CAA Journal of Automatica Sinica

  • JCR Impact Factor: 15.3, Top 1 (SCI Q1)
    CiteScore: 23.5, Top 2% (Q1)
    Google Scholar h5-index: 77, TOP 5
Turn off MathJax
Article Contents
Xinyi Yu, Fan Yang, Chao Zou and Linlin Ou, "Stabilization Parametric Region of Distributed PID Controllers for General First-Order Multi-Agent Systems With Time Delay," IEEE/CAA J. Autom. Sinica, vol. 7, no. 6, pp. 1555-1564, Nov. 2020. doi: 10.1109/JAS.2019.1911627
Citation: Xinyi Yu, Fan Yang, Chao Zou and Linlin Ou, "Stabilization Parametric Region of Distributed PID Controllers for General First-Order Multi-Agent Systems With Time Delay," IEEE/CAA J. Autom. Sinica, vol. 7, no. 6, pp. 1555-1564, Nov. 2020. doi: 10.1109/JAS.2019.1911627

Stabilization Parametric Region of Distributed PID Controllers for General First-Order Multi-Agent Systems With Time Delay

doi: 10.1109/JAS.2019.1911627
Funds:  This work was partly supported by the National Key Research and Development Plan Intelligent Robot Key Project (2018YFB1308000) and the Key Research and Development Program of Zhejiang Province (2020C01109)
More Information
  • The stabilization problem of distributed proportional-integral-derivative (PID) controllers for general first-order multi-agent systems with time delay is investigated in the paper. The closed-loop multi-input multi-output (MIMO) framework in frequency domain is firstly introduced for the multi-agent system. Based on the matrix theory, the whole system is decoupled into several subsystems with respect to the eigenvalues of the Laplacian matrix. Considering that the eigenvalues may be complex numbers, the consensus problem of the multi-agent system is transformed into the stabilizing problem of all the subsystems with complex coefficients. For each subsystem with complex coefficients, the range of admissible proportional gains is analytically determined. Then, the stabilizing region in the space of integral gain and derivative gain for a given proportional gain value is also obtained in an analytical form. The entire stabilizing set can be determined by sweeping proportional gain in the allowable range. The proposed method is conducted for general first-order multi-agent systems under arbitrary topology including undirected and directed graph topology. Besides, the results in the paper provide the basis for the design of distributed PID controllers satisfying different performance criteria. The simulation examples are presented to check the validity of the proposed control strategy.

     

  • loading
  • [1]
    L. L. Ou, C. Zou, and X. Y. Yu, “Decentralized minimal-time planar formation control of multi-agent system,” Int. J. Robust and Nonlinear Control, vol. 27, no. 2, pp. 1480–1498, 2017.
    [2]
    N. A. Lynch, Distributed Algorithms. San Francisco, USA: Morgan Kaufmann, 1996.
    [3]
    M. Chen, S. Gonzalez, and V. Leung, “Applications and design issues for mobile agents in wireless sensor networks,” IEEE Wireless Communications, vol. 14, no. 6, pp. 20–26, 2007. doi: 10.1109/MWC.7742
    [4]
    R. Olfati-Saber and R. M. Murray, “Consensus problems in networks of agents with switching topology and time-delays,” IEEE Trans. Autom. Control, vol. 49, no. 9, pp. 1520–1533, 2004. doi: 10.1109/TAC.2004.834113
    [5]
    W. W. Yu, W. X. Zheng, and G. R. Chen, “Second-order consensus in multi-agent dynamical systems with sampled position data,” Automatica, vol. 47, no. 7, pp. 1496–1503, 2011. doi: 10.1016/j.automatica.2011.02.027
    [6]
    P. Lin and Y. M. Jia, “Consensus of second-order discrete-time multiagent systems with nonuniform time delays and dynamically changing topologies,” Automatica, vol. 45, no. 9, pp. 2154–2158, 2009. doi: 10.1016/j.automatica.2009.05.002
    [7]
    C. Huang, G. S. Zhai, and G. S. Xu, “Necessary and sufficient conditions for consensus in third order multi-agent systems,” IEEE/CAA J. Autom. Sinica, vol. 5, no. 6, pp. 1044–1053, 2018. doi: 10.1109/JAS.2018.7511222
    [8]
    A. T. Hafez, A. J. Marasco, S. N. Givigi, M. Iskandarani, S. Yousefi, and C. A. Rabbath, “Solving multi-UAV dynamic encirclement via model predictive control,” IEEE Trans. Control Systems Technology, vol. 23, no. 6, pp. 2251–2265, 2015. doi: 10.1109/TCST.2015.2411632
    [9]
    D. Richert and J. Cortes, “Optimal leader allocation in UAV formation pairs ensuring cooperation,” Automatica, vol. 49, no. 11, pp. 3189–3198, 2013. doi: 10.1016/j.automatica.2013.07.030
    [10]
    S. Li, M. C. Zhou, X. Luo, and Z. H. You, “Distributed winner-take-all in dynamic networks,” IEEE Trans. Autom. Control, vol. 62, no. 2, pp. 577–589, 2017. doi: 10.1109/TAC.2016.2578645
    [11]
    A. J. Wang, X. F. Liao, and H. B. He, “Event-triggered differentially private average consensus for multi-agent network,” IEEE/CAA J. Autom. Sinica, vol. 6, no. 1, pp. 75–83, 2019. doi: 10.1109/JAS.2019.1911327
    [12]
    Z. M. Cheng, M. C. Fan, and H. T. Zhang, “Distributed MPC based consensus for single-integrator multi-agent systems,” ISA Trans., vol. 58, pp. 112–120, 2015. doi: 10.1016/j.isatra.2015.03.011
    [13]
    Y. Wang, Z. J. Ma, and G. R. Chen, “Distributed control of cluster lag consensus for first-order multi-agent systems on QUAD vector fields,” J. Franklin Institute, vol. 355, pp. 7335–7353, 2018. doi: 10.1016/j.jfranklin.2018.07.021
    [14]
    W. Y. Hou, M. Y. Fu, H. S. Zhang, and Z. Z. Wu, “Consensus conditions for general second-order multi-agent systems with communication delay,” Automatica, vol. 75, pp. 293–298, 2017. doi: 10.1016/j.automatica.2016.09.042
    [15]
    Z. H. Wang, J. J. Xu, and H. S. Zhang, “Consensusability of multi-agent systems with time-varying communication delay,” Systems &Control Letters, vol. 65, no. 1, pp. 37–42, 2014.
    [16]
    F. Xiao, T. W. Chen, and H. J. Gao, “Consensus in time-delayed multi-agent systems with quantized dwell times,” Systems &Control Letters, vol. 104, pp. 59–65, 2017.
    [17]
    T. Y. Zhang and G. P. Liu, “Predictive tracking control of network based agents with communication delays,” IEEE/CAA J. Autom. Sinica, vol. 5, no. 6, pp. 1150–1156, 2018. doi: 10.1109/JAS.2017.7510868
    [18]
    F. Ye, W. D. Zhang, and L. L. Ou, “H2 consensus control of time-delayed multi-agent systems: A frequency-domain method,” ISA Trans., vol. 66, pp. 437–447, 2017. doi: 10.1016/j.isatra.2016.09.016
    [19]
    F. Ye, and W. D. Zhang, “H2 input load disturbance rejection controller design for synchronised output regulation of time-delayed multi-agent systems with frequency domain method,” Int. J. Control, vol. 8, pp. 1–18, 2017.
    [20]
    D. A. B. Lombana and M. D. Bernardo, “Distributed PID control for consensus of homogeneous and heterogeneous networks,” IEEE Trans. Control of Network Systems, vol. 2, no. 2, pp. 154–163, 2015. doi: 10.1109/TCNS.2014.2378914
    [21]
    L. L. Ou, J. J. Chen, D. M. Zhang, L. Zhang, and W. D. Zhang, “Distributed Hoo PID feedback for improving consensus performance of arbitrary-delayed multi-agent system,” Int. J. Autom. and Computing, vol. 11, no. 2, pp. 189–196, 2014. doi: 10.1007/s11633-014-0780-y
    [22]
    G. J. Silva, A. Datta, and S. P. Bhattacharyya, “New results on synthesis of PID controller,” IEEE Trans. Autom. Control, vol. 47, no. 2, pp. 241–252, 2002. doi: 10.1109/9.983352
    [23]
    D. J. Wang, “Further results on the synthesis of PID controllers,” IEEE Trans. Autom. Control, vol. 52, no. 6, pp. 1127–1132, 2007. doi: 10.1109/TAC.2007.899045
    [24]
    F. L. Lewis, H. Zhang, and K. Hengster-Movric, Cooperative Control of Multi-Agent Systems. London, UK: Springer, 2014.
    [25]
    G. J. Silva, A. Datta, and S. P. Bhattachaiyya, PID Controllers for Timedelay Systems. Boston, USA: Birkhauser, 2005.
    [26]
    T. Fossen, Guidance and Control of Ocean Vehicles, Hoboken, New Jersey, USA: John Wiley & Sons. Inc, 1994, pp.5–55.

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Figures(13)

    Article Metrics

    Article views (1637) PDF downloads(75) Cited by()

    Highlights

    • The stabilization parametric region of distributed PID controllers for general first-order multi-agent systems with time delay is acquired in this paper, and the proposed method is conducted for systems under arbitrary topology including undirected and directed graph topology. Moreover, we ensure that the parameters chosen in the resultant set can guarantee the consensus of the multi-agent system with time delay.
    • In the actual engineering application, the distributed PID controllers are generally required to meet several performance criteria simultaneously. For this phenomenon, the results in this paper solve the stabilization problem of the systems with complex coefficients, and provide the basis for the design of distributed PID controllers satisfying different performance criteria.
    • The multi-agent system can be decoupled into several subsystems with respect to the eigenvalues of the Laplacian matrix based on the matrix theory. For each subsystem, the range of admissible proportional gains is analytically determined. Then, the stabilizing region in the space of integral gain and derivative gain for a given value is obtained in an analytical form. Finally, the entire stabilizing set can be determined by sweeping in the allowable range.

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return