Passivity as a design tool for group coordination
Passivity as a design tool for group coordination
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DOI：
10.1109/tac.2007.902733
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发表时间：
2007-08-01
影响因子：
6.8
通讯作者：
Arcak, Murat
中科院分区：
文献类型：
--
作者：
Arcak, Murat
我们追求一个小组协调问题，目的是将小组成员的输出变量之间的差异引导到规定的紧凑型集合。为了稳定这一集合，我们研究了一类反馈规则，这些反馈规则可实施，并提供每个成员可用的本地信息。当相邻成员之间的信息流是双向的时，我们表明闭环系统表现出一种特殊的互连结构，该结构继承了其组件的消极性属性。通过利用这种结构，我们开发了一个基于被动率的设计框架，该框架会产生一类广泛的反馈规则，这些规则涵盖了特殊情况，其中一些现有的形成稳定和小组协议在读物中的设计。与这些特殊情况相比，被动性方法提供了额外的设计灵活性，并且系统地为闭环系统构建了Lurie型Lyapunov功能。我们进一步研究了这些反馈定律在存在时间变化的通信拓扑的情况下的鲁棒性，并提出了激发条件的持久性，该持久性使互连图在整体含义上建立的互连图点逐渐失去连接性。
We pursue a group coordination problem where the objective is to steer the differences between output variables of the group members to a prescribed compact set. To stabilize this set we study a class of feedback rules that are implementable with local information available to each member. When the information flow between neighboring members is bidirectional, we show that the closed-loop system exhibits a special interconnection structure which inherits the passivity properties of its components. By exploiting this structure we develop a passivity-based design framework, which results in a broad class of feedback rules that encompass as special cases some of the existing formation stabilization and group agreement designs in the-literature. The passivity approach offers additional design flexibility compared to these special cases, and systematically constructs a Lurie-type Lyapunov function for the closed-loop system. We further study the robustness of these feedback laws in the presence of a time-varying communication topology, and present a persistency of excitation condition which allows the interconnection graph to lose connectivity pointwise in time as long as it is established in an integral sense.