Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 64, Issue 11, Pages 4512-4524Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2019.2908258
Keywords
Steady-state; Optimization; MIMO communication; Multi-agent systems; Couplings; Control systems; Convergence; Multi-agent systems; multidimensional systems; nonlinear control systems; decentralized control; MIMO; control system analysis; control system synthesis; optimization; nonlinear dynamical systems; convex functions; closed loop systems; convergence; feedback; graph theory; automatic control; couplings
Funding
- German-Israeli Foundation for Scientific Research and Development
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This paper studies analysis and synthesis problems for diffusively coupled multi-agent systems. We focus on networks comprised of multi-input multi-output nonlinear systems that possess a property we term maximal equilibrium-independent cyclically monotone passivity (MEICMP), which is an extension of recent passivity results. We demonstrate that networks comprised of MEICMP systems are related to a pair of dual network optimization problems. In particular, we show that the steady-state behavior of the multi-agent system correspond to the minimizers of appropriately defined network optimization problems. This optimization perspective leads to a synthesis procedure for designing the network controllers to achieve a desired output. We provide detailed examples of networked systems satisfying these properties and demonstrate the results for a network of damped planar oscillators.
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