City Research Online

Model-Matching type-methods and Stability of Networks consisting of non-Identical Dynamic Agents

Vlahakis, L. ORCID: 0000-0002-7039-5314 & Halikias, G. ORCID: 0000-0003-1260-1383 (2018). Model-Matching type-methods and Stability of Networks consisting of non-Identical Dynamic Agents. IFAC-PapersOnLine, 51(23), pp. 426-431. doi: 10.1016/j.ifacol.2018.12.073


Many recent approaches of distributed control over networks of dynamical agents rely on the assumption of identical agent dynamics. In this paper we propose a systematic method for removing this assumption, leading to a general approach for distributed-control stabilization of networks of non-identical dynamics. Local agents are assumed to share a minimal set of structural properties, such as input dimension, state dimension and controllability indices, which are generically satisfied for parametric families of systems. Our approach relies on the solution of certain model-matching type problems using local state-feedback and input matrix transformations which map the agent dynamics to a target system, selected to minimize the joint control effort of the local feedback-control schemes. By adapting a well-established distributed LQR control design methodology to our framework, the stabilization problem for a network of non-identical dynamical agents is solved. The applicability of our approach is illustrated via a simple UAV formation control problem.

Publication Type: Article
Publisher Keywords: Model-matching, distributed LQR, non-identical systems, networked control
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Departments: School of Science & Technology > Engineering
Text - Published Version
Download (488kB) | Preview



Downloads per month over past year

View more statistics

Actions (login required)

Admin Login Admin Login