Abstract
In this article, we develop a data-based controller design framework for diffusively coupled systems with guaranteed convergence to an neighborhood of the desired formation. The controller is composed of a fixed controller with an adjustable gain on each edge. Via passivity theory and network optimization, we not only prove that there exists a gain attaining the desired formation control goal, but we present a data-based method to find an upper bound on this gain. Furthermore, by allowing for additional experiments, the conservatism of the upper bound can be reduced via iterative sampling schemes. The introduced scheme is based on the assumption of passive systems, which we relax by discussing different methods for estimating the systems' passivity shortage, as well as applying transformations passivizing them. Finally, we illustrate the developed model-free cooperative control scheme with a case study.
Original language | English |
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Pages (from-to) | 754-766 |
Number of pages | 13 |
Journal | IEEE Transactions on Automatic Control |
Volume | 67 |
Issue number | 2 |
DOIs | |
State | Published - 1 Feb 2022 |
Keywords
- Asymptotic stability
- Convex functions
- Data models
- Iterative learning control
- Iterative methods
- Multiagent systems
- Networked control systems
- Nonlinear dynamical systems
- Optimization
- Sampling methods
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering