Robust cooperative control of multiple heterogeneous Negative-Imaginary systems

• Jianan Wang ^[2] ; Alexander Lanzon ^[1] ; Ian R. Petersen ^[3]
  1. [1] University of Manchester

     University of Manchester

     Reino Unido

     
  2. [2] Institute of Technology, Beijing; China
  3. [3] University of New South Wales, Australian

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• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 61, 2015, págs. 64-72
• Idioma: inglés
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• Resumen

  • This paper presents a consensus-based robust cooperative control framework for a wide class of linear time-invariant (LTI) systems, namely Negative-Imaginary (NI) systems. Output feedback, dynamic, Strictly Negative-Imaginary (SNI) controllers are applied in positive feedback to heterogeneous multi-input–multi-output (MIMO) plants through the network topology to achieve robust output feedback consensus. Robustness to external disturbances and model uncertainty is guaranteed via NI system theory. Cooperative tracking control of networked NI systems is presented as a corollary of the derived results by adapting the proposed consensus algorithm. Numerical examples are also given to demonstrate the effectiveness of proposed robust cooperative control framework