A Lyapunov Redesign of Coordination Algorithms for Cyber-Physical Systems

DOI10.1109/TAC.2016.2565062zbMATH Open1364.93378arXiv1404.0576MaRDI QIDQ2989586FDOQ2989586

Authors: Romain Postoyan, C. De Persis 

Publication date: 8 June 2017

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Abstract: The objective is to design distributed coordination strategies for a network of agents in a cyber-physical environment. In particular, we concentrate on the rendez-vous of agents having double-integrator dynamics with the addition of a damping term in the velocity dynamics. We start with distributed controllers that solve the problem in continuous-time, and we then explain how to implement these using event-based sampling. The idea is to define a triggering rule per edge using a clock variable which only depends on the local variables. The triggering laws are designed to compensate for the perturbative term introduced by the sampling, a technique that reminds of Lyapunov-based control redesign. We first present an event-triggered solution which requires continuous measurement of the relative position and we then explain how to convert it to a self-triggered policy. The latter only requires the measurements of the relative position and velocity at the last transmission instants, which is useful to reduce both the communication and the computation costs. The strategies guarantee the existence of a uniform minimum amount of times between any two edge events. The analysis is carried out using an invariance principle for hybrid systems.

Full work available at URL: https://arxiv.org/abs/1404.0576

Mathematics Subject Classification ID

Decentralized systems (93A14) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30)

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• Switched projected gradient descent algorithms for secure state estimation under sparse sensor attacks
• Stochastic coding detection scheme in cyber-physical systems against replay attack
• Event- and self-triggered consensus for double-integrator networks with relative state measurements
• On event‐triggered nonsmooth attitude tracking controller for a rigid spacecraft
• On the benefits of saturating information in consensus networks with noise
• Event-triggered secure observer-based control for cyber-physical systems under adversarial attacks
• Design of distributed adaptive event-triggered consensus control strategies with positive minimum inter-event times
• Event-triggered communication and control of networked systems for multi-agent consensus
• A hybrid dynamical systems perspective on reinforcement learning for cyber-physical systems: vistas, open problems, and challenges
• Hybrid mechanisms for robust synchronization and coordination of multi-agent networked sampled-data systems

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