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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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Published in: | IEEE transactions on automatic control 2024-08, p.1-8 |
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Main Authors: | , , |
Format: | Article |
Language: | English |
Subjects: | |
Online Access: | Get full text |
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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. |
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ISSN: | 0018-9286 1558-2523 |
DOI: | 10.1109/TAC.2024.3440840 |