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Robust Performance Analysis of Cooperative Control Dynamics via Integral Quadratic Constraints

We study cooperative control dynamics with gradient based forcing terms. As a specific example, we focus on source-seeking dynamics with vehicles embedded in an unknown scalar field with a subset of agents having gradient information. We consider time-invariant and uncertain interaction potentials c...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2024-08, p.1-8
Main Authors: Datar, Adwait, Hespe, Christian, Werner, Herbert
Format: Article
Language:English
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Summary:We study cooperative control dynamics with gradient based forcing terms. As a specific example, we focus on source-seeking dynamics with vehicles embedded in an unknown scalar field with a subset of agents having gradient information. We consider time-invariant and uncertain interaction potentials common in formation control and flocking. We leverage the framework of \alpha-integral quadratic constraints to obtain convergence rate estimates whenever exponential stability can be achieved. Sufficient conditions take the form of linear matrix inequalities independent of the size of network. A derivation (purely in time-domain) of the so-called hard Zames-Falb \alpha-IQCs involving general non-causal higher order multipliers is given along with a suitably adapted parameterization of the multipliers to the \alpha-IQC setting. Numerical examples illustrate the application of theoretical results.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2024.3440840