Distributed Control Under Transmission Delays: A Model-Based Hybrid System Approach

• 成果类型: Article
• 署名作者: Dhullipalla, Mani H.; Yu, Hao; Chen, Tongwen
• 署名单位: University of Alberta; Beijing Institute of Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3401970
• 发表日期: 2024
• 页码: 7901-7908
• 关键词: Delays; Protocols; mathematical models; indexes; Context modeling; nonlinear dynamical systems; decentralized control; model-based approach; multiagent systems (MASs); networked control systems (NCSs); small transmission delays

摘要

Networked systems, in practice, suffer from several network-induced imperfections. In this article, we consider the problem of distributed control of nonlinear multiagent systems (MASs) where the information broadcasts over a network are susceptible to one such imperfection, namely, transmission delays. The design methodology employed is such that the sampling instants (at which agents broadcast information) could be both aperiodic and asynchronous in nature. The broadcasts, upon arrival, are propagated by the agents through dynamical models and these propagates are used in their control protocols. The overall MAS is formulated as a hybrid dynamical system whose stability governs the upper bounds on: first, the sampling interval, namely, the duration between two consecutive broadcasts, and second, the transmission delays that the broadcasts might be prone to. Finally, through a case study on the consensus of Lipschitz nonlinear agents, we demonstrate the effectiveness of the proposed methodology.