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Robust performance analysis of cooperative control dynamics via integral quadratic constraints
Publikationstyp
Journal Article
Date Issued
2024-08-08
Sprache
English
Volume
70
Issue
1
Start Page
557
End Page
564
Citation
IEEE Transactions on Automatic Control 70 (1): 557-564 (2025)
Publisher DOI
Scopus ID
Publisher
IEEE
We study cooperative control dynamics with gradient based forcing terms. As a specific example, we focus on source-seeking dynamics with vehicles embedded in an unknown scalar field with a subset of agents having gradient information. We consider time-invariant and uncertain interaction potentials common in formation control and flocking. We leverage the framework of α -integral quadratic constraints to obtain convergence rate estimates whenever exponential stability can be achieved. Sufficient conditions take the form of linear matrix inequalities independent of the size of network. A derivation (purely in time-domain) of the so-called hard Zames-Falb α -IQCs involving general non-causal higher order multipliers is given along with a suitably adapted parameterization of the multipliers to the α -IQC setting. Numerical examples illustrate the application of theoretical results.
Subjects
cooperative control | Costs | Formation control | Heuristic algorithms | linear matrix inequalities | Optimization | robust control | Trajectory | Vectors | Vehicle dynamics
DDC Class
004: Computer Sciences
510: Mathematics