Parallel Feedforward Compensation for Output Synchronization: Fully Distributed Control and Indefinite Laplacian

Abstract

This work is associated with the use of parallel feedforward compensators (PFCs) for the problem of output synchronization over heterogeneous agents and the benefits this approach can provide. Specifically, it addresses the addition of stable PFCs on agents that interact with each other using diffusive couplings. The value in the application of such PFC is twofold. Firstly, it has been an issue that output synchronization among passivity-short systems requires global information for the design of controllers in the cases when initial conditions need to be taken into account, such as average consensus and distributed optimization. We show that a stable PFC can be designed to passivate a passivity-short system while its output asymptotically vanishes as its input tends to zero. As a result, output synchronization is achieved among these systems by fully distributed controls without altering the original consensus results. Secondly, in the literature of output synchronization over signed weighted graphs, it is generally required that the graph Laplacian be positive semidefinite, i.e., $L\ge 0$ for undirected graphs or $L+L^T\ge 0$ for balanced directed graphs. We show that the PFC serves as output feedback to the communication graph to enhance the robustness against negative weight edges. As a result, output synchronization is achieved over a signed weighted and balanced graph, even if the corresponding Laplacian is not positive semidefinite.

arXiv comment10 pages, 8 figures, Systems & Control Letters

References in corpus (4)

• Input-Feedforward-Passivity-Based Distributed Optimization Over Jointly Connected Balanced Digraphs
• On Spectral Properties of Signed Laplacians with Connections to Eventual Positivity
• Smooth Dynamics for Distributed Constrained Optimization with Heterogeneous Delays
• Robust output synchronization of a network of heterogeneous nonlinear agents via nonlinear regulation theory

Cited by in corpus (1)

• Distributed Optimal Secondary Frequency Control in Power Networks with Delay Independent Stability