Abstract
In recent years, networked distributed control systems (NDCS) have received research attention. Two of the main challenges that such systems face are possible delays in the communication network and the effect of strong interconnections between agents. This paper considers an NDCS that has delays in the communication network, as well as strong interconnections between its agents. The control objective is to make each agent track efficiently a reference model by attenuating the effect of strong interconnections via feedback based on the delayed information. First, the authors assume that each agent knows its own dynamics, as well as the interconnection parameters, but receives information about the states of its neighbors with some communication delay. The authors propose a distributed control scheme and prove that if the interconnections can be weakened and if the communication delays are small enough, then the proposed scheme guarantees that the tracking error of each agent is bounded with a bound that depends on the size of the weakened interconnections and delays, and reduces to zero as these uncertainties reduce to zero. The authors then consider a more realistic situation where the interconnections between agents are unknown despite the cooperation and sharing of state information. For this case the authors propose a distributed adaptive control scheme and prove that the proposed scheme guarantees that the tracking errors are bounded and small in the mean square sense with respect to the size of the weakened interconnections and delays, provided the weakened interconnections and time delays are small enough. The authors then consider the case that each agent knows neither its dynamics nor the interconnection matrices. For this case the authors propose a distributed adaptive control scheme and prove that the proposed scheme guarantees that the tracking errors are bounded and small in the mean square sense provided the weakened interconnections and time delays are small enough. Finally, the authors present an illustrative example to present the applicability and effectiveness of the proposed schemes.
Similar content being viewed by others
References
Kazempour F and Ghaisari J, Stability analysis of model-based networked distributed control systems, Journal of Process Control, 2013, 23(3): 444–452.
Ajorlou A, Asadi M M, Aghdam A G, et al., Distributed consensus control of unicycle agents in the presence of external disturbances, Systems and Control Letters, 2015, 82: 86–90.
Ren W, Beard R W, and Atkins E M, Information consensus in multivehicle cooperative control, IEEE Control Systems Magazine, 2007, 27(2): 71–82.
Olfati-Saber R, Fax J A, and Murray R M, Consensus and cooperation in networked multi-agent systems, Proceedings of the IEEE, 2007, 95(1): 215–233.
Huck R C, Havlicek J P, Sluss J J Jr, et al., A low-cost distributed control architecture for intelligent transportation systems deployment in the state of Oklahoma, Proc. of the 8th IEEE Conference on Intelligent Transportation Systems, Vienna, Austria, 2005.
Bakule L, Decentralized control: Status and outlook, Annual Reviews in Control, 2014, 38: 71–80.
Guinaldo M, Dimarogonas D V, Johansson K H, et al., Distributed event-based control for interconnected linear systems, Proc. of the 50th IEEE Conference on Decision and Control, Orlando, FL, USA, 2011.
Ben-Asher Y, Feldman S, and Gurfil P, Distributed decision and control for cooperative UAVs using Ad Hoc communication, IEEE Transactions on Control Systems Technology, 2008, 16(3): 511–516.
Zhang J, Knopse C R, and Tsiortas P, Stability of time-delay systems: Equivalence between Lyapunov and scaled small-gain conditions, IEEE Transactions on Automatic Control, 2001, 46(3): 482–486.
Park M, Kwon O, Park J H, et al., Stability of time-delay systems via Wirtinger-based double integral inequality, Automatica, 2015, 55: 204–208.
Razeghi-Jahromi M and Seyedi A, Stabilization of distributed networked control systems with constant feedback delay, Proc. of the 52nd IEEE Conference on Decision and Control, Florence, Italy, 2013.
Chandra R S, Langbot C, and D’Andrea R, Distributed control design with robustness to small time delays, Proc. of the 2005 American Control Conference, Portland, OR, USA, 2005.
Lymperopoulos G and Ioannou P, Adaptive control of networked distributed systems with unknown interconnections, 55th IEEE Conference on Decision and Control, Las Vegas, NV, USA, 2016, 3456–3461.
Lymperopoulos G and Ioannou P, Adaptive networked distributed model reference control systems with strong interconnections and delays, 56th IEEE Conference on Decision and Control, Melbourne, Australia, 2017, 4783–4788.
Yang X S, Engineering Optimization: An Introduction with Metaheuristic Applications, JohnWiley and Sons, Incorporated, 2010.
Ioannou P A and Sun J, Robust Adaptive Control, Dover Publications, Inc., 2012.
Boyd S and Vandenberghe L, Convex Optimization, Cambridge University Press, Cambridge, 2009.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Lymperopoulos, G., Ioannou, P. Model Reference Adaptive Control for Networked Distributed Systems with Strong Interconnections and Communication Delays. J Syst Sci Complex 31, 38–68 (2018). https://doi.org/10.1007/s11424-018-7172-2
Received:
Revised:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11424-018-7172-2