On the Role of Interconnection Directionality in the Quadratic Performance of Double-Integrator Networks

• 成果类型: Article
• 署名作者: Oral, Hasan Giray; Mallada, Enrique; Gayme, Dennice
• 署名单位: Johns Hopkins University; Johns Hopkins University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3135358
• 发表日期: 2022
• 页码: 6211-6218
• 关键词: h-2; L-2 norm; directed graph; performance

摘要

This article provides a quantitative and qualitative evaluation of the role of interconnection directionality in a general class of quadratic performance metrics for double-integrator networks. We first develop an analysis framework that can be used to evaluate the quadratic performance metrics of networks defined over a general class of directed graphs. A comparison between systems whose directed graph Laplacians are normal and their undirected counterparts unveils an interplay between the interconnection directionality and the control strategy that determines network performance. We show that directionality can significantly degrade performance; however, well-designed feedback can exploit directionality to mitigate this degradation or even improve performance.