Consensus Robustness under PI Protocols with Undirected Graphs

Qi Mao; Dan Ma; Yanling Ding; Hui Peng; Jie Chen

doi:10.23919/ACC55779.2023.10155788

Consensus Robustness under PI Protocols with Undirected Graphs

Qi Mao
, Dan Ma
, Yanling Ding
, Hui Peng
, Jie Chen

Department of Electrical Engineering

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

9 Citations (Scopus)

Abstract

This paper concerns robust consensus problems for continuous-time first-order multi-agent systems with respect to uncertain gain and phase of the agent's frequency response varying within certain ranges. We consider dynamic output feedback control protocol in the form of proportional-integral (PI) control. The agents can in general be nonminimum phase and unstable systems, which are interconnected by an undirected graph network. We seek to determine the largest ranges of gain and phase variations, referred to as the gain consensus margin (GCM) and the phase consensus margin (PCM), respectively, so that consensus can be achieved robustly within these ranges. Our main results consist of explicit analytical expressions of the GCM and PCM, which demonstrate how the agent's unstable pole and nonminimum phase zero, as well as the network connectivity may fundamentally confine the gain and phase variation ranges so that consensus can or cannot be maintained. © 2023 AACC.

Original language	English
Title of host publication	2023 American Control Conference (ACC)
Publisher	IEEE
Pages	1068-1073
ISBN (Electronic)	979-8-3503-2806-6
ISBN (Print)	978-1-6654-6952-4
DOIs	https://doi.org/10.23919/ACC55779.2023.10155788
Publication status	Published - 2023
Event	2023 American Control Conference (ACC 2023) - Hilton San Diego Bayfront Hotel, San Diego, United States Duration: 31 May 2023 → 2 Jun 2023 https://acc2023.a2c2.org/

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619
ISSN (Electronic)	2378-5861

Conference

Conference	2023 American Control Conference (ACC 2023)
Place	United States
City	San Diego
Period	31/05/23 → 2/06/23
Internet address	https://acc2023.a2c2.org/

Funding

This research was supported in part by the National Natural Science Foundation of China under Grants 61906047, 62121004, and 61973060, in part by Hong Kong RGC under the project CityU 11213322, and in part by the City University of Hong Kong under Project 9380054.

Research Keywords

gain consensus margin
multiagent systems
output PI control protocol
phase consensus margin
Robustness analysis
stability margin

RGC Funding Information

RGC-funded

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10.23919/ACC55779.2023.10155788

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Cite this

@inproceedings{10ba71f3405f4bd2b7393c577e26b529,

title = "Consensus Robustness under PI Protocols with Undirected Graphs",

abstract = "This paper concerns robust consensus problems for continuous-time first-order multi-agent systems with respect to uncertain gain and phase of the agent's frequency response varying within certain ranges. We consider dynamic output feedback control protocol in the form of proportional-integral (PI) control. The agents can in general be nonminimum phase and unstable systems, which are interconnected by an undirected graph network. We seek to determine the largest ranges of gain and phase variations, referred to as the gain consensus margin (GCM) and the phase consensus margin (PCM), respectively, so that consensus can be achieved robustly within these ranges. Our main results consist of explicit analytical expressions of the GCM and PCM, which demonstrate how the agent's unstable pole and nonminimum phase zero, as well as the network connectivity may fundamentally confine the gain and phase variation ranges so that consensus can or cannot be maintained. {\textcopyright} 2023 AACC.",

keywords = "gain consensus margin, multiagent systems, output PI control protocol, phase consensus margin, Robustness analysis, stability margin",

author = "Qi Mao and Dan Ma and Yanling Ding and Hui Peng and Jie Chen",

year = "2023",

doi = "10.23919/ACC55779.2023.10155788",

language = "English",

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series = "Proceedings of the American Control Conference",

publisher = "IEEE",

pages = "1068--1073",

booktitle = "2023 American Control Conference (ACC)",

address = "United States",

note = "2023 American Control Conference (ACC 2023) ; Conference date: 31-05-2023 Through 02-06-2023",

url = "https://acc2023.a2c2.org/",

}

Consensus Robustness under PI Protocols with Undirected Graphs. / Mao, Qi; Ma, Dan; Ding, Yanling et al.
2023 American Control Conference (ACC). IEEE, 2023. p. 1068-1073 (Proceedings of the American Control Conference).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Consensus Robustness under PI Protocols with Undirected Graphs

AU - Mao, Qi

AU - Ma, Dan

AU - Ding, Yanling

AU - Peng, Hui

AU - Chen, Jie

PY - 2023

Y1 - 2023

N2 - This paper concerns robust consensus problems for continuous-time first-order multi-agent systems with respect to uncertain gain and phase of the agent's frequency response varying within certain ranges. We consider dynamic output feedback control protocol in the form of proportional-integral (PI) control. The agents can in general be nonminimum phase and unstable systems, which are interconnected by an undirected graph network. We seek to determine the largest ranges of gain and phase variations, referred to as the gain consensus margin (GCM) and the phase consensus margin (PCM), respectively, so that consensus can be achieved robustly within these ranges. Our main results consist of explicit analytical expressions of the GCM and PCM, which demonstrate how the agent's unstable pole and nonminimum phase zero, as well as the network connectivity may fundamentally confine the gain and phase variation ranges so that consensus can or cannot be maintained. © 2023 AACC.

AB - This paper concerns robust consensus problems for continuous-time first-order multi-agent systems with respect to uncertain gain and phase of the agent's frequency response varying within certain ranges. We consider dynamic output feedback control protocol in the form of proportional-integral (PI) control. The agents can in general be nonminimum phase and unstable systems, which are interconnected by an undirected graph network. We seek to determine the largest ranges of gain and phase variations, referred to as the gain consensus margin (GCM) and the phase consensus margin (PCM), respectively, so that consensus can be achieved robustly within these ranges. Our main results consist of explicit analytical expressions of the GCM and PCM, which demonstrate how the agent's unstable pole and nonminimum phase zero, as well as the network connectivity may fundamentally confine the gain and phase variation ranges so that consensus can or cannot be maintained. © 2023 AACC.

KW - gain consensus margin

KW - multiagent systems

KW - output PI control protocol

KW - phase consensus margin

KW - Robustness analysis

KW - stability margin

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DO - 10.23919/ACC55779.2023.10155788

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 978-1-6654-6952-4

T3 - Proceedings of the American Control Conference

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PB - IEEE

T2 - 2023 American Control Conference (ACC 2023)

Y2 - 31 May 2023 through 2 June 2023

ER -

Consensus Robustness under PI Protocols with Undirected Graphs

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GRF: Performance and Robustness of Multi-Agent Control Systems

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Consensus Robustness under PI Protocols with Undirected Graphs

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Research Keywords

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GRF: Performance and Robustness of Multi-Agent Control Systems

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