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arXiv · 1711.04287

Analysis and Synthesis of MIMO Multi-Agent Systems Using Network Optimization

Miel Sharf·Daniel Zelazo
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Abstract

This work studies analysis and synthesis problems for diffusively coupled multi-agent systems. We focus on networks comprised of multi-input multi-output nonlinear systems that posses a property we term maximal equilibrium-independent cyclically monotonone 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. Exploiting this connection between the dynamic networked system and static optimization problems, we propose a synthesis procedure for designing the coupling controllers in the network to achieve a desired output state for the network. We provide detailed examples of dynamical networked systems satisfying these properties and demonstrate the results for a network of damped planar oscillators.

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Miel Sharf, Daniel Zelazo. 2017-11-12. Analysis and Synthesis of MIMO Multi-Agent Systems Using Network Optimization. https://doi.org/10.1109/tac.2019.2908258

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