Convergence-Preserving Switching for Topology-Dependent Decentralized Systems
Convergence-Preserving Switching for Topology-Dependent Decentralized Systems
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DOI：
10.1109/tro.2008.2007940
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发表时间：
2008-12-01
影响因子：
7.8
通讯作者：
Bennett, John K.
中科院分区：
文献类型：
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作者：
Shucker, Brian;Murphey, Todd D.;Bennett, John K.
网络协调系统的分散控制机制的稳定性分析通常集中在特定的控制器实现，如最近邻和其他类型的邻近图控制律。这种方法往往忽略了增加其他控制结构以改善网络全局特性的需要。这种情况的一个例子是使用Gabriel图，它本质上是一个最近邻规则，如果代理通过它们的传感器输入成对连接，则修改该规则以确保网络的全局连通性。我们提出了一种方法，确保可证明的稳定性或分散的开关系统采用滞后规则，使用零和共识算法。我们证明了这一结果的应用程序的几个特殊情况下，包括最近邻控制律，加布里埃尔图形规则，扩散目标跟踪，和分层异构系统。
Stability analysis of decentralized control mechanisms for networked coordinating systems has generally focused on specific controller implementations; such as nearest-neighbor and other types of proximity graph control laws. This approach often misses the need for the addition of other control structures to improve global characteristics of the network. An example of such a situation is the use of a Gabriel graph, which is essentially a nearest-neighbor rule modified to ensure global connectivity of the network if the agents are pairwise connected through their sensor inputs. We present a method of ensuring provable stability or decentralized switching systems by employing a hysteresis rule that uses a zero-sum consensus algorithm. We demonstrate the application of this result to several special cases, including nearest-neighbor control laws, Gabriel graph rules, diffuse target tracking, and hierarchical heterogeneous systems.