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This paper analyzes distributed control protocols for first- and second-order networked dynamical systems. We propose a class of nonlinear consensus controllers where the input of each agent can be written as a product of a nonlinear gain, and a sum of nonlinear interaction functions. By using integral Lyapunov functions, we prove the stability of the proposed control protocols, and explicitly characterize the equilibrium set. We also propose a distributed proportional-integral (PI) controller for networked dynamical systems. The PI controllers successfully attenuate constant disturbances in the network. We prove that agents with single-integrator dynamics are stable for any integral gain, and give an explicit tight upper bound on the integral gain for when the system is stable for agents with double-integrator dynamics. Throughout the paper we highlight some possible applications of the proposed controllers by realistic simulations of autonomous satellites, power systems and building temperature control.
This paper investigates the consensus problem of multiple uncertain Lagrangian systems. Due to the discontinuity resulted from the switching topology, achieving consensus in the context of uncertain Lagrangian systems is challenging. We propose a new
This paper provides a protocol to address the robust output feedback consensus problem for networked heterogeneous nonlinear negative-imaginary (NI) systems with free body dynamics. We extend the definition of nonlinear NI systems to allow for system
We here investigate secure control of networked control systems developing a new dynamic watermarking (DW) scheme. Firstly, the weaknesses of the conventional DW scheme are revealed, and the tradeoff between the effectiveness of false data injection
Distributed linear control design is crucial for large-scale cyber-physical systems. It is generally desirable to both impose information exchange (communication) constraints on the distributed controller, and to limit the propagation of disturbances
This work is concerned with the design and effects of the synchronization gains on the synchronization problem for a class of networked distributed parameter systems. The networked systems, assumed to be described by the same evolution equation in a