Convergence of a PI Coordination Protocol in Networks with Switching Topology and Quantized Measurements

Abstract

This paper analyzes the convergence properties of a distributed proportional-integral protocol for coordination of a network of agents with multiple leaders, dynamic information flow, and quantized measurements. We show that the integral term of the protocol allows the follower agents to 'learn' the reference rate, rather than have it available a priori, and also provides disturbance rejection capabilities.

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Document Details

Document Type
Technical Report
Publication Date
Dec 10, 2012
Accession Number
ADA583730

Entities

People

  • Enric Xargay
  • Isaac Kaminer
  • Naira Hovakimyan
  • Ronald Choe

Organizations

  • University of Illinois Urbana–Champaign

Tags

Communities of Interest

  • Air Platforms
  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Agreements
  • Algorithms
  • Autonomous Vehicles
  • Consensus Algorithms
  • Convergence
  • Cooperative Control
  • Dynamics
  • Electronic Mail
  • Information Operations
  • Integrals
  • Integrators
  • Measurement
  • Multiagent Systems
  • Network Topology
  • Simulations
  • Topology

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