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

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.

12 pages, 4 figures

References in corpus (2)

• Network Identification: A Passivity and Network Optimization Approach
• On Certain Properties of Convex Functions

Cited by in corpus (6)

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• Network Identification for Diffusively-Coupled Systems with Minimal Time Complexity
• Monitoring Link Faults in Nonlinear Diffusively-coupled Networks
• Model-Free Practical Cooperative Control for Diffusively Coupled Systems
• Symmetry-Induced Clustering in Multi-Agent Systems using Network Optimization and Passivity