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Convex distributed controller synthesis for interconnected heterogeneous subsystems via virtual normal interconnection matrices
Publikationstyp
Journal Article
Date Issued
2016-12
Sprache
English
Author(s)
Institut
TORE-URI
Volume
62
Issue
10
Start Page
5337
End Page
5342
Citation
IEEE Transactions on Automatic Control 10 (62): 5337-5342 (2017)
Publisher DOI
Scopus ID
Publisher
Institute of Electrical and Electronics Engineers
Based on a previously introduced framework for distributed controller synthesis, in this note a novel transformation of interconnectionmatrices is proposed that enables to consider arbitrary, time-varying and directed interaction topologies. It represents any interconnection as a virtual interconnection matrix that has the property of being normal, i.e., that guarantees the existence of a unitary diagonalizing transformation, which admits to decompose the synthesis problem in terms of the entire interconnected system into problems of subsystem scale, which can then be solved by standard convex multiplier-based gain-scheduling synthesis methods with complexity in the order of a single subsystem. When compared with a method from the literature, themethod shows superior performance in both a numerical example and the leader-follower formation control problem of nonlinear quadrocopter models.
Subjects
Interconnected systems
Linear fractional representations
Multi-agent systems
DDC Class
600: Technik