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Iteration domain H<sub>∞</sub>-optimal iterative learning controller design
Moore, Kevin L.,Ahn, Hyo-Sung,Chen, Yang Quan John Wiley Sons, Ltd. 2008 INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONT Vol.18 No.10
<P>This paper presents an H<SUB>∞</SUB>-based design technique for the synthesis of higher-order iterative learning controllers (ILCs) for plants subject to iteration-domain input/output disturbances and plant model uncertainty. Formulating the higher-order ILC problem into a high-dimensional multivariable discrete-time system framework, it is shown how the addition of input/output disturbances and plant model uncertainty to the ILC problem can be cast as an H<SUB>∞</SUB>-norm minimization problem. The distinctive feature of this formulation is to consider the uncertainty as arising in the iteration domain rather than the time domain. An algebraic approach to solving the problem in this framework is presented, resulting in a sub-optimal controller that can achieve both stability and robust performance. The key observation is that H<SUB>∞</SUB> synthesis can be used for higher-order ILC design to achieve a reliable performance in the presence of iteration-varying external disturbances and model uncertainty. Copyright © 2007 John Wiley & Sons, Ltd.</P>
Oh, Kwang-Kyo,Moore, Kevin L.,Ahn, Hyo-Sung IEEE 2014 IEEE transactions on automatic control Vol.59 No.8
<P>We consider two problems related to disturbance attenuation in undirected consensus networks of identical linear systems subject to exogenous disturbances: 1) network interconnection design and 2) design of distributed and decentralized controllers. We use the <TEX>$ {\cal H}_{\infty }$</TEX> norm of the transfer function from the disturbance vector to the disagreement vector of the network as the performance metric for disturbance attenuation. We show that the disturbance attenuation performance is enhanced by maximizing the second smallest eigenvalue of the graph Laplacian under a certain condition, which can be checked using a linear matrix inequality. For the case of a consensus network with fixed interconnection weights, e.g., as the result of physical constraints, we provide algorithms for the design of both decentralized and distributed controllers that ensure a prescribed disturbance attenuation performance.</P>
Graph and Controller Design for Disturbance Attenuation in Consensus Networks
Kwang-Kyo Oh,Kevin L. Moore,Hyo-Sung Ahn,Sung-Geun Song 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
Disturbance attenuation in consensus networks has been recently studied in the literature. In this paper, we provide illustrative examples of graph and controller design for disturbance attenuation in undirected consensus networks of identical linear time-invariant systems subject to exogenous disturbance. We first summarize some existing results on disturbance attenuation in such consensus networks, and then solve specific graph and controller design examples based on the results.
Clusters in multi-leader directed consensus networks
Jeong-Min Ma,Hyung-Gohn Lee,Hyo-Sung Ahn,Kevin L.Moore 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
In a directed graph a leader is a node that has no in-degree edges. If there are multiple leaders in a directed consensus network, the system will not reach consensus. In such systems the nodes will organize into clusters or groups of node that converge to the same value. These clusters are not dependent on initial conditions or edge weights. In this paper we study clusters in multi-leader directed consensus networks. Specifically, we present an algorithm to classify all clusters in the graph.