3 research outputs found
Analysis and Synthesis of MIMO Multi-Agent Systems Using Network Optimization
This work studies analysis and synthesis problems for diffusively coupled
multi-agent systems. We focus on networks comprised of multi-input multi-output
nonlinear systems that posses a property we term maximal
equilibrium-independent cyclically monotonone passivity (MEICMP), which is an
extension of recent passivity results. We demonstrate that networks comprised
of MEICMP systems are related to a pair of dual network optimization problems.
In particular, we show that the steady-state behavior of the multi-agent system
correspond to the minimizers of appropriately defined network optimization
problems. Exploiting this connection between the dynamic networked system and
static optimization problems, we propose a synthesis procedure for designing
the coupling controllers in the network to achieve a desired output state for
the network. We provide detailed examples of dynamical networked systems
satisfying these properties and demonstrate the results for a network of damped
planar oscillators.Comment: 12 pages, 4 figure
A Geometric Method for Passivation and Cooperative Control of Equilibrium-Independent Passivity-Short Systems
Equilibrium-independent passive-short (EIPS) systems are a class of systems
that satisfy a passivity-like dissipation inequality with respect to any forced
equilibria with non-positive passivity indices. This paper presents a geometric
approach for finding a passivizing transformation for such systems, relying on
their steady-state input-output relation and the notion of projective quadratic
inequalities (PQIs). We show that PQIs arise naturally from passivity-shortage
characteristics of an EIPS system, and the set of their solutions can be
explicitly expressed. We leverage this connection to build an input-output
mapping that transforms the steady-state input-output relation to a monotone
relation, and show that the same mapping passivizes the EIPS system. We show
that the proposed transformation can be implemented through a combination of
feedback, feed-through, post- and pre-multiplication gains. Furthermore, we
consider an application of the presented passivation scheme for the analysis of
networks comprised of EIPS systems. Numerous examples are provided to
illustrate the theoretical findings.Comment: 16 pages, 9 figure
Distributed Optimal Steady-State Regulation for High-Order Multi-Agent Systems with External Disturbances
In this paper, a distributed optimal steady-state regulation problem is
formulated and investigated for heterogeneous linear multi-agent systems
subject to external disturbances. We aim to steer this high-order multi-agent
network to a prescribed steady-state determined as the optimal solution of a
resource allocation problem in a distributed way. To solve this problem, we
employ an embedded control design and convert the formulated problem to two
simpler subproblems. Then, both state-feedback and output feedback controls are
presented under mild assumptions to solve this problem with disturbance
rejection. Moreover, we extend these results to the case with only real-time
gradient information by high-gain control techniques. Finally, numerical
simulations verify their effectiveness.Comment: 16 pages, 3 figure