In this paper, we present a distributed estimation setup where autonomous agents estimate their states from coupled measurements, that is, measurements that depend on multiple agents. For instance, in the case of mult...
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In this paper, we present a distributed estimation setup where autonomous agents estimate their states from coupled measurements, that is, measurements that depend on multiple agents. For instance, in the case of multiagent systems, where only relative measurements are available, this is of high relevance. This paper proposes a distributed observer design solution, which is scalable with respect to the number of agents. This distributed observer is then used for the design of a distributed observer-based output synchronization control algorithm. Robust performance against exogenous and measurement disturbances can be guaranteed for both the estimation error and synchronization error.
Consensusability of multiagent systems (MASs) certifies the existence of a distributedcontroller capable of driving the states of each subsystem to a consensus value. We study the consensusability of linear interconn...
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Consensusability of multiagent systems (MASs) certifies the existence of a distributedcontroller capable of driving the states of each subsystem to a consensus value. We study the consensusability of linear interconnected MASs (LIMASs), where, as in several real-world applications, subsystems are physically coupled. We show that consensusability is related to the simultaneous stabilizability of multiple LTI systems, and present a novel sufficient condition in form of a linear program for verifying this property. We also derive several necessary and sufficient consensusability conditions for LIMASs in terms of parameters of the subsystem matrices and the eigenvalues of the physical and communication graph Laplacians. The results show that weak physical couplings among subsystems and densely connected physical and communication graphs are favorable for consensusability. Finally, we validate our results through simulations of networks of supercapacitors and dc microgrids.
In this article, we give upper bounds for the scrambling constant (SC) of the composition of general uniformly jointly connected (UJC) directed graphs. Some bounds are tight as they can be achieved by the UJC complete...
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In this article, we give upper bounds for the scrambling constant (SC) of the composition of general uniformly jointly connected (UJC) directed graphs. Some bounds are tight as they can be achieved by the UJC complete N-layer graphs. Moreover, this article establishes new and explicit connections between the upper bounds and the number of consecutive graphs needed to composite a neighbor-shared graph. Then, the upper bounds are exploited to find new lower bounds for the convergence rate of consensus protocols over UJC communication graphs. The simulation shows that consensus over UJC complete N-layer graphs may have the slowest convergence rate over all unweighted switching graphs.
The coverage control problem involves spatially disseminating a network of mobile agents using distributedcontrol laws, or coverage controllers, over a desired region to locally minimize an associated cost function. ...
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The coverage control problem involves spatially disseminating a network of mobile agents using distributedcontrol laws, or coverage controllers, over a desired region to locally minimize an associated cost function. Mobile robots using coverage controllers will be subject to various disturbances, such as uncertainty, errors, and delays. Asymptotic stability of [Cortes et al.'s 2004] coverage controller and its variations have been studied;however, rates of convergence are omitted. Recent work has provided convergence rates for a coverage controller under certain assumptions, including regions where the network locally converges exponentially. The main contribution of this work is to show that a variation of [Cortes et al.'s 2004] coverage controller also features robust stability properties, specifically input-to-output stability, under the same set of assumptions. Conservative bounds are used to provide theoretical guarantees on stability, and simulations are used to verify the results and highlight practical performance of the controller.
We present an adaptive algorithm that guarantees synchronization in diffusively coupled systems. We first consider compartmental systems of ODEs where variables in each compartment are interconnected through diffusion...
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We present an adaptive algorithm that guarantees synchronization in diffusively coupled systems. We first consider compartmental systems of ODEs where variables in each compartment are interconnected through diffusion terms with like variables in other compartments. Each set of variables may have its own weighted undirected graph describing the topology of the interconnection between compartments. The link weights are updated adaptively according to the magnitude of the difference between neighboring agents connected by each link. We show that an incremental passivity property is fundamental in guaranteeing output synchronization. We next consider reaction-diffusion PDEs with Neumann boundary conditions and derive an analogous algorithm guaranteeing spatial homogenization of the solutions. We provide several numerical examples demonstrating the results.
Distribution grids are experiencing a massive penetration of fluctuating distributed energy resources (DERs). As a result, the secure and efficient real-time operation of distribution grids becomes a paramount problem...
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Distribution grids are experiencing a massive penetration of fluctuating distributed energy resources (DERs). As a result, the secure and efficient real-time operation of distribution grids becomes a paramount problem. While installing smart sensors and enhancing communication infrastructure improves grid observability, it is computationally impossible for the distribution system operator (DSO) to optimize setpoints of millions of DER units. This paper proposes decentralized model-free algorithms that can actively control converter-connected devices and can operate either stand-alone or in combination with centralized optimization algorithms. We address the problem of loss minimization in distribution grids, and we analytically prove that our proposed algorithms reduce the total grid losses without any prior information about the network, requiring no communication, and based only on local measurements. Our designed local algorithms achieve up to 85% reduction in the power losses by only controlling the injected reactive power compared to the base-case scenario where converters do not provide reactive power support. Going a step further, we combine our proposed local algorithms with a central optimization of a very limited number of converters. The hybrid approaches we propose, achieve the same loss minimization results as a global optimization but with a significantly lower computation and communication burden, and they require central control of up to 5 times fewer resources while offering performance guarantees in case of communication failure. We demonstrate our algorithms in four networks of varying sizes: a 5-bus network, an IEEE 141-bus system, a real Danish distribution system, and a meshed IEEE 30-bus system. (c) 2023 The Author(s). Published by Elsevier Ltd. This is an open access article under the CC BY license (http://***/licenses/by/4.0/).
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