Mode-Dependent Switched Distributed Stabilization of Partially Unknown Interconnected Multiagent Systems
Vahid Rezaei, Margareta Stefanovic · 2021
Centralized and decentralized configurations have been traditionally used for the stabilization of interconnected systems. From a design perspective, however, a designer usually needs to follow two separate approaches in order to develop those decentralized and centralized mechanisms. Recently, we have proposed a graph theoretic stabilization protocol to design all centralized, cooperative, and decentralized configurations in a unified distributed manner. We aim to extend that result to a fully heterogeneous interconnected multiagent system equipped with a reconfigurable control layer. To achieve this goal, we develop a systematic procedure to design a set of control sublayers with all stabilization gains and control sublayer topologies as the design degrees of freedom, and characterize a mode-dependent switching condition to reconfigure the control layer topology. We prove that all state trajectories of the closed-loop interconnected multiagent system exponentially converge to the origin despite the modeling uncertainties, and verify the feasibility of the proposed ideas in simulation.