Passivity as a design tool for group coordination
Passivity as a design tool for group coordination
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DOI：
10.1109/acc.2006.1655326
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发表时间：
2006-06
期刊：
影响因子：
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通讯作者：
Murat Arcak
中科院分区：
文献类型：
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作者：
Murat Arcak
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通过分布式反馈规则进行规定的紧凑型设置。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文献中的小组协议设计。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。我们进一步研究了在有时间变化的交流拓扑的情况下，反馈法的鲁棒性
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 via distributed feedback rules. 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 the feedback laws in the presence of a time-varying communication topology