Decentralized control of networked systems has been widely investigated in the literature, with the aim of regulating the overall state of the system to some desired configuration, thus obtaining coordinated emerging behaviors (e.g. synchronization, swarming, coverage, formation control) by means of local interaction. In this paper we introduce a methodology to solve a tracking problem, that is defining a decentralized control strategy for making a networked system follow an arbitrarily defined periodic setpoint function. The most suitable interconnection topology is defined together with the control law as the solution of a constrained optimization problem, in order to ensure asymptotic tracking. Simulations are provided for validating the proposed control strategy
Implementation of arbitrary periodic dynamic behaviors in networked systems / Sabattini, Lorenzo; Secchi, Cristian; Cocetti, Matteo; Fantuzzi, Cesare. - ELETTRONICO. - (2014), pp. 5004-5009. (Intervento presentato al convegno Robotics and Automation (ICRA), 2014 IEEE International Conference on tenutosi a Hong Kong nel 31 Maggio - 7 Giugno 2014).
Implementation of arbitrary periodic dynamic behaviors in networked systems
SABATTINI, Lorenzo;SECCHI, Cristian;FANTUZZI, Cesare
2014
Abstract
Decentralized control of networked systems has been widely investigated in the literature, with the aim of regulating the overall state of the system to some desired configuration, thus obtaining coordinated emerging behaviors (e.g. synchronization, swarming, coverage, formation control) by means of local interaction. In this paper we introduce a methodology to solve a tracking problem, that is defining a decentralized control strategy for making a networked system follow an arbitrarily defined periodic setpoint function. The most suitable interconnection topology is defined together with the control law as the solution of a constrained optimization problem, in order to ensure asymptotic tracking. Simulations are provided for validating the proposed control strategy
Pubblicazioni consigliate
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris
