Distributed Nonlinear Control Design using Separable Control Contraction Metrics

DOI10.1109/TCNS.2018.2885270zbMATH Open1516.93113arXiv1810.04794MaRDI QIDQ6308024FDOQ6308024

Max Revay, Ian R. Manchester, Humberto Stein Shiromoto

Publication date: 10 October 2018

Abstract: This paper gives convex conditions for synthesis of a distributed control system for large-scale networked nonlinear dynamic systems. It is shown that the technique of control contraction metrics (CCMs) can be extended to this problem by utilizing separable metric structures, resulting in controllers that only depend on information from local sensors and communications from immediate neighbours. The conditions given are pointwise linear matrix inequalities, and are necessary and sufficient for linear positive systems and certain monotone nonlinear systems. Distributed synthesis methods for systems on chordal graphs are also proposed based on SDP decompositions. The results are illustrated on a problem of vehicle platooning with heterogeneous vehicles, and a network of nonlinear dynamic systems with over 1000 states that is not feedback linearizable and has an uncontrollable linearization

Mathematics Subject Classification ID

Large-scale systems (93A15) Nonlinear systems in control theory (93C10) Exponential stability (93D23) Networked control (93B70)

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