Robust Performance Analysis of Cooperative Control Dynamics via Integral Quadratic Constraints

• 成果类型: Article
• 署名作者: Datar, Adwait; Hespe, Christian; Werner, Herbert
• 署名单位: Hamburg University of Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3440840
• 发表日期: 2025
• 页码: 557-564
• 关键词: Vehicle dynamics; Heuristic algorithms; Formation control; vectors; optimization; COSTS; trajectory; Cooperative control; Linear matrix inequalities; Robust control

摘要

In this article, we study cooperative control dynamics with gradient-based forcing terms. As a specific example, we focus on source-seeking dynamics with vehicles embedded in an unknown scalar field with a subset of agents having gradient information. We consider time-invariant and uncertain interaction potentials common in formation control and flocking. We leverage the framework of alpha -integral quadratic constraints (IQCs) to obtain convergence rate estimates whenever exponential stability can be achieved. Sufficient conditions take the form of linear matrix inequalities independent of the size of network. A derivation (purely in time domain) of the so-called hard Zames-Falb alpha -IQCs involving general noncausal higher order multipliers is given along with a suitably adapted parameterization of the multipliers to the alpha -IQC setting. Numerical examples illustrate the application of theoretical results.