Robust Distributed Stabilization of Interconnected Multiagent Systems with Switched Control Sublayers
Vahid Rezaei · AIAA Scitech 2021 Forum · 2021
View Video Presentation: https://doi.org/10.2514/6.2021-0977.vid We propose a mixed graph and optimal control theoretic approach to build a two-layer interconnected multiagent system which captures the architectural aspects of cyber-physical systems. The agent or physical layer is subject to the unmatched agent- and multiagent system-level modeling uncertainties. The control or cyber layer is built by multiple structurally nonsymmetric sublayers, each of which capable to implement centralized, cooperative, and decentralized control configurations in a distributed fashion. We develop a systematic procedure to design these control sublayers, and characterize the candidate control layer and switching signals in terms of two sufficient conditions. Based on a multiple Lyapunov functions approach, we prove that all state trajectories of the two-layer interconnected multiagent system exponentially converge to the origin despite the modeling uncertainties over the agent layer. We discuss the proposed ideas in simulation.