Title

Modularized design for cooperative control and plug-and-play operation of networked heterogeneous systems

Authors

Authors

Z. H. Qu;M. A. Simaan

Comments

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Abbreviated Journal Title

Automatica

Keywords

Cooperative control; Design separation; Negative input-feedforward; passivity index; Shortage of passivity; Impact equivalence; Plug and; play; MOBILE AUTONOMOUS AGENTS; COUPLED NONLINEAR-SYSTEMS; MULTIAGENT SYSTEMS; DYNAMICAL-SYSTEMS; COORDINATION; PASSIVITY; DRIVEN; FLOW; Automation & Control Systems; Engineering, Electrical & Electronic

Abstract

In this paper, a cooperative control analysis and design method is investigated for heterogeneous dynamical systems that may be of arbitrary relative degree or nonminimum-phase or both. To achieve consensus or cooperative stability, a negative value of input-feedforward passivity index is used to accommodate and analyze such systems, and the magnitude of the index value is also used as the impact coefficient to quantify the impacts of heterogeneous dynamics of these systems on their networked operations. Physical-system-level designs are explicitly carried out to make individual linear and nonlinear systems (which are either feedback linearizable or nonminimum phase of certain form) become passivity-short and to embed one pure integrator into their input-output dynamics. The network-level distributed control can simply be chosen without any knowledge of the heterogeneous dynamics but with only information of an upper bound on their impact coefficients. It is shown, using the impact equivalence principle, that these controls separately designed but implemented together always ensure either local or global consensus and that a global non-trivial consensus emerges if and only if the information network has at least one globally reachable node or is varying but cumulatively connected. The proposed methodology of fully modularized designs unravels complexity of analyzing and designing cyber-physical systems and enables their plug-and-play into networked operations. (C) 2014 Elsevier Ltd. All rights reserved.

Journal Title

Automatica

Volume

50

Issue/Number

9

Publication Date

1-1-2014

Document Type

Article

Language

English

First Page

2405

Last Page

2414

WOS Identifier

WOS:000342479400022

ISSN

0005-1098

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