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Responsible-Eigenvalue Control for Creating Autonomy in Coupled Systems With Delays

[+] Author Affiliations
Wei Qiao, Rifat Sipahi

Northeastern University, Boston, MA

Paper No. DSCC2011-6054, pp. 17-23; 7 pages
doi:10.1115/DSCC2011-6054
From:
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5475-4
  • Copyright © 2011 by ASME

abstract

A class of linear time-invariant (LTI) consensus system with multiple agents and identical communication delays among the agents is considered. For this type of system, we recently showed that a responsible eigenvalue (RE) exists determining the amount of delay (delay margin) that the system can withstand without losing stability. In this paper, we use RE to design controllers such that the delay margin of the system increases as the agents make autonomous decisions. This Responsible Eigenvalue-control enables real-time tuning of RE in a way that the system becomes robust against delays. A numerical example demonstrates intriguing results that connect for the first time in the literature the controller design, the features of the associated graph Laplacian, and RE concept.

Copyright © 2011 by ASME
Topics: Delays , Eigenvalues

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