Eigenvalue analysis based control scheme for interconnected autonomous systems

Author

Sharma, B.B. ; Kar, I.N.

Author_Institution

Electr. Eng. Dept., Nat. Inst. of Technol., Hamirpur, India

fYear

2011

fDate

21-24 Nov. 2011

Firstpage

1070

Lastpage

1074

Abstract

The paper proposes a simple decentralized control scheme to address stability problem of interconnected systems. Sufficient condition for stability of closed loop system is derived using contraction theory based analysis. Here, the conditions for stability are reflected in terms of bounds on strengths of interconnections. The uniform negative definiteness of associated Jacobian of the system in differential framework is ensured by identifying the location of eigenvalues using Gerschgorin theorem. Results are verified by considering an interconnected system with individual subsystems having interaction with their nearest neighbours.

Keywords

closed loop systems; decentralised control; eigenvalues and eigenfunctions; interconnected systems; mobile robots; stability; Gerschgorin theorem; Jacobian uniform negative definiteness; closed loop system; contraction theory based analysis; decentralized control scheme; differential framework; eigenvalue analysis based control scheme; interconnected autonomous systems; stability problem; Distributed control; Eigenvalues and eigenfunctions; Interconnected systems; Jacobian matrices; Nonlinear systems; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

TENCON 2011 - 2011 IEEE Region 10 Conference

Conference_Location

Bali

ISSN

2159-3442

Print_ISBN

978-1-4577-0256-3

Type

conf

DOI

10.1109/TENCON.2011.6129275

Filename

6129275