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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.