A distributed cooperative control scheme with optimal priority assignment and stability assessment

Haiyang Ding (1) , Mazen Alamir (1) , Ahmad Hably (1)

1 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité

In this paper, a distributed partially cooperative control framework is proposed for a network of linear interconnected subsystems. It is assumed that each subsystem in the network possesses its own objective and a corresponding nominal interaction-free state feedback law. The proposed framework enables each subsystem to compute an additional control term in order to help maintaining the integrity of the overall network. As this cooperation-like behavior involves relative priority assignment, a communication aware heuristic is proposed with an associated stability assessment that is based on the closed-loop network matrix's spectrum monitoring. Illustrative examples are used to assess the effectiveness of the proposed scheme including a distributed load frequency problem.

Mots clés: Distributed control and estimation; Cooperative systems

Domaines: Automatique / Robotique

Haiyang Ding, Mazen Alamir, Ahmad Hably. A distributed cooperative control scheme with optimal priority assignment and stability assessment. IFAC WC 2014 - 19th IFAC World Congress, Aug 2014, Le Cap, South Africa. pp.11703-11708, ⟨10.3182/20140824-6-ZA-1003.00093⟩. ⟨hal-00949668⟩