Loop Transfer Recovery: Analysis and Design
Loop Transfer Recovery: Analysis and Design
Brief paper: Stability analysis and decentralized control of a class of complex dynamical networks
Automatica (Journal of IFAC)
A Flexible Stochastic Automaton-Based Algorithm for Network Self-Partitioning
International Journal of Distributed Sensor Networks
Paper: Decentralized control of linear multivariable systems
Automatica (Journal of IFAC)
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We study decentralized controller design for stabilization and pole-placement, in a network of autonomous agents with double-integrator internal dynamics and arbitrary observation topology. We show that a simple multi-lead-compensator architecture, in particular one in which each agent uses a derivative-approximation compensator with three memory elements, can achieve both stabilization and effective pole placement. Through a scaling argument, we also demonstrate that the multi-lead-compensator can stabilize the double-integrator network under actuator saturation constraints. The multilead-compensator design is practical for modern dynamical network applications, in that it subdivides actuation effort and complexity among the agents and in many cases is robust to agent failure.