Title :
Performance certification of interconnected nonlinear systems using ADMM
Author :
Meissen, Chris ; Lessard, Laurent ; Arcak, Murat ; Packard, Andrew
Author_Institution :
Dept. of Mech. Eng., Univ. of California, Berkeley, Berkeley, CA, USA
Abstract :
We present a compositional performance certification method for interconnected nonlinear systems, using dissipativity properties of the subsystems along with the interconnection structure. To select the most relevant dissipativity properties, we formulate a large-scale optimization problem, and solve it with the alternating direction method of multipliers (ADMM). The dissipativity properties are allowed to depend on an unknown equilibrium, enabling us to certify performance without explicit knowledge of the equilibrium for the interconnected system. The effectiveness of the algorithm is demonstrated on two examples, including a model of vehicle platoons.
Keywords :
interconnected systems; nonlinear control systems; optimisation; ADMM; alternating direction method of multipliers; compositional performance certification; interconnected nonlinear systems; large-scale optimization problem; subsystem dissipativity properties; vehicle platoons; Interconnected systems; Nonlinear systems; Optimization; Polynomials; Topology; Vehicle dynamics; Vehicles;
Conference_Titel :
Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on
Conference_Location :
Los Angeles, CA
Print_ISBN :
978-1-4799-7746-8
DOI :
10.1109/CDC.2014.7040191
