DocumentCode :
592536
Title :
Parameterization of all distributed controllers based on gradient-flow method for networked multi-agent systems
Author :
Sakurama, Kazunori ; Azuma, Shun-ichi ; Sugie, Toshiharu
Author_Institution :
Grad. Sch. of Eng., Tottori Univ., Tottori, Japan
fYear :
2012
fDate :
10-13 Dec. 2012
Firstpage :
5465
Lastpage :
5470
Abstract :
In this paper, a parameterization of all distributed controllers based on the gradient-flow method is presented for networked multi-agent systems. In the gradient-flow method, the cooperative controllers are uniquely determined from the gradients of objective functions which correspond to control tasks. However, these controllers are not necessarily distributed. Hence, we parameterize all objective functions whose gradients are appropriate for distributed control. It turns out that cliques (i.e., complete induced subgraphs) play a crucial role to obtain all distributed controllers. This is in contrast to the conventional objective functions, which depend on edges instead of cliques. Based on this parameterization, the distributed controllers can be obtained automatically just by choosing free parameters. A controller design example is given to demonstrate the effectiveness of the proposed method, where it is shown that this method enhances the control performance compared to the conventional method.
Keywords :
control system synthesis; distributed control; gradient methods; multi-agent systems; networked control systems; controller design; cooperative controller; distributed controller parameterization; gradient-flow method; networked multiagent system; Educational institutions; Equations; Indexes; Linear programming; Multiagent systems; Nickel; Vectors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control (CDC), 2012 IEEE 51st Annual Conference on
Conference_Location :
Maui, HI
ISSN :
0743-1546
Print_ISBN :
978-1-4673-2065-8
Electronic_ISBN :
0743-1546
Type :
conf
DOI :
10.1109/CDC.2012.6426835
Filename :
6426835
Link To Document :
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