The delayed-state-derivative feedback （DSDF） is in- troduced into the existing consensus protocol to simultaneously improve the robustness to communication delay and accele- rate the convergence speed of achieving t...The delayed-state-derivative feedback （DSDF） is in- troduced into the existing consensus protocol to simultaneously improve the robustness to communication delay and accele- rate the convergence speed of achieving the consensus. The frequency-domain analysis, together with the algebra graph the- ory, is employed to derive the sufficient and necessary condition guaranteeing the average consensus. It is shown that introduc- ing the DSDF with the proper intensity in the existing consensus protocol can improve the robustness to communication delay. By analyzing the effect of DSDF on the closed-loop poles, this pa- per proves that for a supercritical-delay multi-agent system, this strategy can also accelerate the convergence speed of achieving the consensus with provided the proper intensity of the DSDE Simulations are provided to demonstrate the effectiveness of the theoretical results.展开更多
This study proposes a hybrid controller by combining a proportional-integral-derivative （PID） control and a model reference adaptive control （MRAC）, which named as PID ＋ MRAC controller. The convergence performan...This study proposes a hybrid controller by combining a proportional-integral-derivative （PID） control and a model reference adaptive control （MRAC）, which named as PID ＋ MRAC controller. The convergence performances of the PID control, MRAC, and hybrid PID ＋ MRAC are also compared. Through the simulation in Matlab, the results show that the convergence speed and performance of the MRAC and the PID ＋MRAC controller are better than those of the PID controller. In addition, the convergence performance of the hybrid control is better than that of the MRAC control.展开更多
基金supported by the National Natural Science Foundation of China (60574088 60874053)
文摘The delayed-state-derivative feedback （DSDF） is in- troduced into the existing consensus protocol to simultaneously improve the robustness to communication delay and accele- rate the convergence speed of achieving the consensus. The frequency-domain analysis, together with the algebra graph the- ory, is employed to derive the sufficient and necessary condition guaranteeing the average consensus. It is shown that introduc- ing the DSDF with the proper intensity in the existing consensus protocol can improve the robustness to communication delay. By analyzing the effect of DSDF on the closed-loop poles, this pa- per proves that for a supercritical-delay multi-agent system, this strategy can also accelerate the convergence speed of achieving the consensus with provided the proper intensity of the DSDE Simulations are provided to demonstrate the effectiveness of the theoretical results.
文摘This study proposes a hybrid controller by combining a proportional-integral-derivative （PID） control and a model reference adaptive control （MRAC）, which named as PID ＋ MRAC controller. The convergence performances of the PID control, MRAC, and hybrid PID ＋ MRAC are also compared. Through the simulation in Matlab, the results show that the convergence speed and performance of the MRAC and the PID ＋MRAC controller are better than those of the PID controller. In addition, the convergence performance of the hybrid control is better than that of the MRAC control.
