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H∞controller design for a multi-agent system based on a replicated control structure
Publikationstyp
Journal Article
Date Issued
2010
Sprache
English
Author(s)
Institut
Start Page
2332
End Page
2337
Article Number
11494512
Citation
Proceedings of the American Control Conference: 11494512 2332-2337(2010)
Contribution to Conference
Publisher DOI
Publisher
IEEE
Several recent design techniques address the problem of distributed controller synthesis for multi-agent systems (MAS). However, since these methods use a decomposition based approach to reduce the complexity of the MAS, they cannot provide a guarantee of performance with the designed controller, and furthermore lead to conservative designs due to the Lyapunov shaping paradigm. This paper proposes a direct gradient-based-optimization synthesis technique for a MAS with fixed communication topology, exploiting the fact that the same controller is replicated on each agent. Although this results in a non-convex design problem, an appropriate initialization step makes the synthesis efficient and helps to obtain controllers with guaranteed performance on the MAS.
DDC Class
600: Technik
620: Ingenieurwissenschaften