Cooperative Control Of Heterogeneous Multi-Agent Systems In A Sampled-Data Setting

Abstract

This paper deals with a cooperative control problem of networked heterogeneous input-output passivity-short (PS) multi-agent systems in a sampled-data setting. The dynamics of each system are continuous, whereas the exchange of information on a communication network is operated in a discrete-time manner. The analysis and cooperative control design are transformed into representative forms of discretized systems using a zero-order holder and an ideal sampler. Based on the concept of PS, a design of a distributed static output feedback control for achieving output consensus is proposed. Compared with the concept of passivity, it is shown that PS extends the systems under consideration to higher relative degree and/or non-minimum phase. This extension allows the design of a distributed controller by quantifying the impact of each system in networked operation. Furthermore, properties of PS are discussed both in the continuous and discrete-time domain, and conditions for preserving PS through discretization are presented.

Publication Date

12-27-2016

Publication Title

2016 IEEE 55th Conference on Decision and Control, CDC 2016

Number of Pages

2683-2688

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/CDC.2016.7798667

Socpus ID

85010824732 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/85010824732

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