TY - GEN
T1 - Fractional PID consensus control protocols for second-order multiagent systems
AU - Yaylali, David
AU - Butcher, Eric A.
AU - Dabiri, Arman
N1 - Funding Information:
∗This research was supported by the Dynamics, Control, and Systems Diagnostics Program of the National Science Foundation under Grant CMMI-1561836. †MS Student, Department of Aerospace and Mechanical Engineering, University of Arizona, AIAA Member. ‡Professor, Department of Aerospace and Mechanical Engineering, University of Arizona, AIAA Member. §Assistant Professor, School of Engineering Technology, Eastern Michigan University.
Publisher Copyright:
© 2019, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.
PY - 2019
Y1 - 2019
N2 - We outline the formalism and investigate the efficacy of fractional PIDα consensus control for second-order multiagent systems in which the derivative feedback is allowed to take non-integer order. Using algebraic graph theory to characterize the communication topology, a pseudostate-space formalism is developed in terms of the graph Laplacian matrix and used to prove that, given certain conditions on the system’s eigenvalues, consensus is guaranteed to be reached asymptotically. We show that these eigenvalue conditions correspond to particular regions of {kP, kI, kD, αD} parameter space and demonstrate this numerically as well as analytically for the special case of a complete graph. Finally, we show that fractional-order controllers outperform standard integer-order controllers in terms of common performance specifications for a selection of benchmark 5-agent systems.
AB - We outline the formalism and investigate the efficacy of fractional PIDα consensus control for second-order multiagent systems in which the derivative feedback is allowed to take non-integer order. Using algebraic graph theory to characterize the communication topology, a pseudostate-space formalism is developed in terms of the graph Laplacian matrix and used to prove that, given certain conditions on the system’s eigenvalues, consensus is guaranteed to be reached asymptotically. We show that these eigenvalue conditions correspond to particular regions of {kP, kI, kD, αD} parameter space and demonstrate this numerically as well as analytically for the special case of a complete graph. Finally, we show that fractional-order controllers outperform standard integer-order controllers in terms of common performance specifications for a selection of benchmark 5-agent systems.
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U2 - 10.2514/6.2019-0656
DO - 10.2514/6.2019-0656
M3 - Conference contribution
SN - 9781624105784
T3 - AIAA Scitech 2019 Forum
BT - AIAA Scitech 2019 Forum
PB - American Institute of Aeronautics and Astronautics Inc, AIAA
T2 - AIAA Scitech Forum, 2019
Y2 - 7 January 2019 through 11 January 2019
ER -