Mode-Free Practical Cooperative Control for Diffusively Coupled Systems

• 成果类型: Article
• 署名作者: Sharf, Miel; Koch, Anne; Zelazo, Daniel; Allgoewer, Frank
• 署名单位: Royal Institute of Technology; University of Stuttgart; Technion Israel Institute of Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3056582
• 发表日期: 2022
• 页码: 754-766
• 关键词: Asymptotic stability; Convex functions; data models; Iterative learning control; iterative methods; multiagent systems; networked control systems; nonlinear dynamical systems; optimization; sampling methods

摘要

In this article, we develop a data-based controller design framework for diffusively coupled systems with guaranteed convergence to an F-neighborhood of the desired formation. The controller is composed of a fixed controller with an adjustable gain on each edge. Via passivity theory and network optimization, we not only prove that there exists a gain attaining the desired formation control goal, but we present a data-based method to find an upper bound on this gain. Furthermore, by allowing for additional experiments, the conservatism of the upper bound can be reduced via iterative sampling schemes. The introduced scheme is based on the assumption of passive systems, which we relax by discussing different methods for estimating the systems' passivity shortage, as well as applying transformations passivizing them. Finally, we illustrate the developed model-free cooperative control scheme with a case study.