Distributed Control Design for Heterogeneous Interconnected Systems

• 成果类型: Article
• 署名作者: Stuerz, Yvonne R.; Eichler, Annika; Smith, Roy S.
• 署名单位: University of California System; University of California Berkeley; Helmholtz Association; Deutsches Elektronen-Synchrotron (DESY); Swiss Federal Institutes of Technology Domain; ETH Zurich
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.3034202
• 发表日期: 2021
• 页码: 5112-5127
• 关键词: Interconnected systems; Mathematical model; Convex functions; TOPOLOGY; decentralized control; Directed graphs; Numerical models; Distributed control; heterogeneous interconnected systems; large-scale systems

摘要

This article presents scalable controller synthesis methods for heterogeneous and partially heterogeneous systems. First, heterogeneous systems composed of different subsystems that are interconnected over a directed graph are considered. Techniques from robust and gain-scheduled controller synthesis are employed, in particular, the full-block S-procedure, to deal with the decentralized system part in a nominal condition and with the interconnection part in a multiplier condition. Under some structural assumptions, we can decompose the synthesis conditions into conditions that are the size of the individual subsystems. To solve these decomposed synthesis conditions that are coupled only over neighboring subsystems, we propose a distributed method based on the alternating direction method of multipliers. It only requires nearest-neighbor communication and no central coordination is needed. Then, a new classification of systems is introduced that consists of groups of homogeneous subsystems with different interconnection types. This classification includes heterogeneous systems as the most general and homogeneous systems as the most specific case. Based on this classification, we show how the interconnected system model and the decomposed synthesis conditions can be formulated in a more compact way. The computational scalability of the presented methods with respect to a growing number of subsystems and interconnections is analyzed, and the results are demonstrated in numerical examples.