Fractional PID consensus control protocols for second-order multiagent systems

David Yaylali, Eric A. Butcher, Arman Dabiri

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations


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.

Original languageEnglish (US)
Title of host publicationAIAA Scitech 2019 Forum
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624105784
StatePublished - 2019
EventAIAA Scitech Forum, 2019 - San Diego, United States
Duration: Jan 7 2019Jan 11 2019

Publication series

NameAIAA Scitech 2019 Forum


ConferenceAIAA Scitech Forum, 2019
Country/TerritoryUnited States
CitySan Diego

ASJC Scopus subject areas

  • Aerospace Engineering


Dive into the research topics of 'Fractional PID consensus control protocols for second-order multiagent systems'. Together they form a unique fingerprint.

Cite this