论文标题
关于拒绝一阶干扰的可扩展网络的设计
On the design of scalable networks rejecting first order disturbances
论文作者
论文摘要
本文涉及针对受一阶多项式组件和残留信号组成的延迟和干扰影响的网络系统设计分布式控制协议的问题。具体而言，我们建议使用多重体系结构设计分布式控制协议，以拒绝到坡道上的多项式干扰，并保证禁止放大残余干扰的可伸缩性属性。对于此架构，我们在控制协议上提供足够的条件，以确保可伸缩性和逐渐拒绝。通过机器人形成控制问题说明了结果的有效性，可用于研究非线性耦合非线性剂的网络。
This paper is concerned with the problem of designing distributed control protocols for network systems affected by delays and disturbances consisting of a first-order polynomial component and a residual signal. Specifically, we propose the use of a multiplex architecture to design distributed control protocols to reject polynomial disturbances up to ramps and guarantee a scalability property that prohibits the amplification of residual disturbances. For this architecture, we give a sufficient condition on the control protocols to guarantee scalability and ramps rejection. The effectiveness of the result, which can be used to study networks of nonlinearly coupled nonlinear agents, is illustrated via a robot formation control problem.
