Publication

A Lyapunov Redesign of Coordination Algorithms for Cyber-Physical Systems

De Persis, C. & Postoyan, R., 2017, In : IEEE Transactions on Automatic Control. 62, 2, p. 808-823

Research output: Contribution to journalArticleAcademicpeer-review

APA

De Persis, C., & Postoyan, R. (2017). A Lyapunov Redesign of Coordination Algorithms for Cyber-Physical Systems. IEEE Transactions on Automatic Control, 62(2), 808-823. https://doi.org/10.1109/TAC.2016.2565062

Author

De Persis, Claudio ; Postoyan, Romain. / A Lyapunov Redesign of Coordination Algorithms for Cyber-Physical Systems. In: IEEE Transactions on Automatic Control. 2017 ; Vol. 62, No. 2. pp. 808-823.

Harvard

De Persis, C & Postoyan, R 2017, 'A Lyapunov Redesign of Coordination Algorithms for Cyber-Physical Systems', IEEE Transactions on Automatic Control, vol. 62, no. 2, pp. 808-823. https://doi.org/10.1109/TAC.2016.2565062

Standard

A Lyapunov Redesign of Coordination Algorithms for Cyber-Physical Systems. / De Persis, Claudio; Postoyan, Romain.

In: IEEE Transactions on Automatic Control, Vol. 62, No. 2, 2017, p. 808-823.

Research output: Contribution to journalArticleAcademicpeer-review

Vancouver

De Persis C, Postoyan R. A Lyapunov Redesign of Coordination Algorithms for Cyber-Physical Systems. IEEE Transactions on Automatic Control. 2017;62(2):808-823. https://doi.org/10.1109/TAC.2016.2565062


BibTeX

@article{94132d47b49b43db99a821f5a4511ff4,
title = "A Lyapunov Redesign of Coordination Algorithms for Cyber-Physical Systems",
abstract = "We present an approach for the coordination ofa network of agents in a cyber-physical environment. Theagents’s dynamics are nonlinear, of arbitrary dimensions andpossibly heterogeneous. The objective is to design resource-awaredistributed control strategies to ensure a coordination task. Inparticular, we aim at ensuring the convergence of the differencesbetween the agents’ output variables to a prescribed compactset, hence covering rendez-vous and formation control as specificscenarios. We develop event-based sampling strategies for thatpurpose. Three scenarios are studied. We first focus on eventtriggeredcontrol, in which case the agents continuously measurethe relative distances with their neighbours and only update theircontrol input at some time instants. This set-up is relevant to limitchanges in control signals and therefore to reduce the resourcesusage of the actuators. A triggering rule is defined for eachedge using an auxiliary variable, whose dynamics only dependson the local variables. We then explain how to derive timetriggeredand self-triggered distributed controllers. These controlstrategies collect measurements and update the control inputsonly at some discrete time instants, which save communicationand computation resources. The existence of a uniform minimumamount of times between any two edge events is guaranteed in allcases, thus ruling out Zeno phenomenon. The analysis is carriedout within the framework of hybrid systems and an invarianceprinciple is used to conclude about coordination.",
keywords = "Event-triggered control, distributed control, hybrid systems, cyber-physical systems, networked control systems",
author = "{De Persis}, Claudio and Romain Postoyan",
year = "2017",
doi = "10.1109/TAC.2016.2565062",
language = "English",
volume = "62",
pages = "808--823",
journal = "IEEE-Transactions on Automatic Control",
issn = "0018-9286",
publisher = "IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC",
number = "2",

}

RIS

TY - JOUR

T1 - A Lyapunov Redesign of Coordination Algorithms for Cyber-Physical Systems

AU - De Persis, Claudio

AU - Postoyan, Romain

PY - 2017

Y1 - 2017

N2 - We present an approach for the coordination ofa network of agents in a cyber-physical environment. Theagents’s dynamics are nonlinear, of arbitrary dimensions andpossibly heterogeneous. The objective is to design resource-awaredistributed control strategies to ensure a coordination task. Inparticular, we aim at ensuring the convergence of the differencesbetween the agents’ output variables to a prescribed compactset, hence covering rendez-vous and formation control as specificscenarios. We develop event-based sampling strategies for thatpurpose. Three scenarios are studied. We first focus on eventtriggeredcontrol, in which case the agents continuously measurethe relative distances with their neighbours and only update theircontrol input at some time instants. This set-up is relevant to limitchanges in control signals and therefore to reduce the resourcesusage of the actuators. A triggering rule is defined for eachedge using an auxiliary variable, whose dynamics only dependson the local variables. We then explain how to derive timetriggeredand self-triggered distributed controllers. These controlstrategies collect measurements and update the control inputsonly at some discrete time instants, which save communicationand computation resources. The existence of a uniform minimumamount of times between any two edge events is guaranteed in allcases, thus ruling out Zeno phenomenon. The analysis is carriedout within the framework of hybrid systems and an invarianceprinciple is used to conclude about coordination.

AB - We present an approach for the coordination ofa network of agents in a cyber-physical environment. Theagents’s dynamics are nonlinear, of arbitrary dimensions andpossibly heterogeneous. The objective is to design resource-awaredistributed control strategies to ensure a coordination task. Inparticular, we aim at ensuring the convergence of the differencesbetween the agents’ output variables to a prescribed compactset, hence covering rendez-vous and formation control as specificscenarios. We develop event-based sampling strategies for thatpurpose. Three scenarios are studied. We first focus on eventtriggeredcontrol, in which case the agents continuously measurethe relative distances with their neighbours and only update theircontrol input at some time instants. This set-up is relevant to limitchanges in control signals and therefore to reduce the resourcesusage of the actuators. A triggering rule is defined for eachedge using an auxiliary variable, whose dynamics only dependson the local variables. We then explain how to derive timetriggeredand self-triggered distributed controllers. These controlstrategies collect measurements and update the control inputsonly at some discrete time instants, which save communicationand computation resources. The existence of a uniform minimumamount of times between any two edge events is guaranteed in allcases, thus ruling out Zeno phenomenon. The analysis is carriedout within the framework of hybrid systems and an invarianceprinciple is used to conclude about coordination.

KW - Event-triggered control

KW - distributed control

KW - hybrid systems

KW - cyber-physical systems

KW - networked control systems

U2 - 10.1109/TAC.2016.2565062

DO - 10.1109/TAC.2016.2565062

M3 - Article

VL - 62

SP - 808

EP - 823

JO - IEEE-Transactions on Automatic Control

JF - IEEE-Transactions on Automatic Control

SN - 0018-9286

IS - 2

ER -

ID: 32499053