Title Sensor-network-based robust distributed control and estimation
Authors MILLÁN GATA, PABLO, ORIHUELA ESPINA, DIEGO LUIS, Vivas, C., Rubio, F. R., Dimarogonas, D. V., Johansson, K. H., MILLÁN GATA, PABLO, ORIHUELA ESPINA, DIEGO LUIS
External publication No
Means Control Eng. Practice
Scope Article
Nature Científica
JCR Quartile 2
SJR Quartile 1
JCR Impact 1.91200
SJR Impact 1.33900
Area International
Publication date 01/09/2013
ISI 000322295600008
Scopus Id 2-s2.0-84879816373
DOI 10.1016/j.conengprac.2013.05.002
Abstract This paper proposes a novel distributed estimation and control method for uncertain plants. It is of application in the case of large-scale systems, where each control unit is assumed to have access only to a subset of the plant outputs, and possibly controls a restricted subset of input channels. A constrained communication topology between nodes is considered so the units can benefit from estimates of neighboring nodes to build their own estimates. The paper proposes a methodology to design a distributed control structure so that the system is asymptotically driven to equilibrium with L-2-gain disturbance rejection capabilities. A difficulty that arises is that the separation principle does not hold, as every single unit ignores the control action that other units might be applying. To overcome this, a two-stage design is proposed: firstly, the distributed controllers are obtained to robustly stabilize the plant despite the observation errors in the controlled output. At the second stage, the distributed observers are designed aiming to minimize the effects of the communication noise in the observation error. Both stages are formulated in terms of linear matrix inequalities. The performance is shown on a level-control real plant. (C) 2013 Elsevier Ltd. All rights reserved.
Keywords Distributed estimation and control; Sensor networks; Process control; Linear matrix inequalities
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