Details

Autor(en) / Beteiligte

• Carli, R
• Chiuso, A
• Schenato, L
• Zampieri, S

Titel

Optimal Synchronization for Networks of Noisy Double Integrators

Ist Teil von

• IEEE transactions on automatic control, 2011-05, Vol.56 (5), p.1146-1152

Ort / Verlag

New York, NY: IEEE

Erscheinungsjahr

2011

Quelle

IEEE Electronic Library Online

Beschreibungen/Notizen

• In this technical note, we present a novel synchronization protocol to synchronize a network of controlled discrete-time double integrators which are nonidentical, with unknown model parameters and subject to additive measurement and process noise. This framework is motivated by the typical problem of synchronizing a network of clocks whose speeds are nonidentical and are subject to variations. This synchronization protocol is formally studied in its synchronous implementation. In particular, we provide a completely distributed strategy that guarantees convergence for any undirected connected communication graph and we also propose an optimal design strategy when the underlaying communication graph is known. Moreover, this protocol can be readily used to study the effect of noise and external disturbances on the steady-state performance. Finally, some simulations including also randomized implementation of the proposed algorithm are presented.