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首页> 外文期刊>IEEE Transactions on Automatic Control >Convex Distributed Controller Synthesis for Interconnected Heterogeneous Subsystems Via Virtual Normal Interconnection Matrices
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Convex Distributed Controller Synthesis for Interconnected Heterogeneous Subsystems Via Virtual Normal Interconnection Matrices

机译：通过虚拟正态互连矩阵互连的异构子系统的凸分布控制器综合

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摘要

Based on a previously introduced framework for distributed controller synthesis, in this note a novel transformation of interconnection matrices is proposed that enables to consider arbitrary, time-varying and directed interaction topologies. It represents any interconnection as a virtual interconnection matrix that has the property of being normal, i.e., that guarantees the existence of a unitary diagonalizing transformation, which admits to decompose the synthesis problem in terms of the entire interconnected system into problems of subsystem scale, which can then be solved by standard convex multiplier-based gain-scheduling synthesis methods with complexity in the order of a single subsystem. When compared with a method from the literature, the method shows superior performance in both a numerical example and the leader-follower formation control problem of nonlinear quadrocopter models.
机译：基于先前介绍的用于分布式控制器综合的框架，在此注释中，提出了一种互连矩阵的新颖转换，该转换使得能够考虑任意，时变和有向的交互拓扑。它将任何互连表示为具有正常性质的虚拟互连矩阵，即，它保证存在单一对角线化变换，该变换允许将整个互连系统的综合问题分解为子系统规模的问题，从而然后可以通过复杂的按单个子系统顺序的，基于标准凸乘数的增益调度合成方法来求解。当与文献中的方法进行比较时，该方法在数值示例和非线性直升机模型的前随从编队控制问题中均表现出优异的性能。

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