大规模非线性网络的分布式协调控制
Distributed Coordinated Control of Large-Scale Nonlinear Networks
摘要：
利用向量李雅普诺夫函数方法，提出了一种分布式协调方法，用于大规模非线性动力系统的稳定性分析和控制设计。该方法将大系统分解为相互作用的子系统网络，通过比较系统分析系统的稳定性。然而，找到这样的比较系统并不容易。在这项工作中，我们提出了一个基于平方和的完全分散的方法来计算比较系统的网络的非线性系统。在比较系统的基础上，我们引入了一种分布式最优控制策略，在该策略中，各个子系统（智能体）与它们的近邻协调设计局部控制策略，使整个系统在初始扰动下指数稳定，并给出了相互作用的Van der Pol系统网络的控制算法.
英文摘要：
We provide a distributed coordinated approach to the stability analysis and control design of large-scale nonlinear dynamical systems by using a vector Lyapunov functions approach. In this formulation the large-scale system is decomposed into a network of interacting subsystems and the stability of the system is analyzed through a comparison system. However finding such comparison system is not trivial. In this work, we propose a sum-of-squares based completely decentralized approach for computing the comparison systems for networks of nonlinear systems. Moreover, based on the comparison systems, we introduce a distributed optimal control strategy in which the individual subsystems (agents) coordinate with their immediate neighbors to design local control policies that can exponentially stabilize the full system under initial disturbances.We illustrate the control algorithm on a network of interacting Van der Pol systems.
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