Contact Us
A Network-Optimization Framework for Cooperative Control of Passive-Short Systems

A Network-Optimization Framework for Cooperative Control of Passive-Short Systems

Wednesday 17/04/2019
  • Miel Sharf
  • Work towards PhD degree under the supervision of Assoc. Prof. Dan Zelazo
  • Classroom 165, ground floor, Library, Aerospace Eng.
  • Department of Aerospace Engineering
  • Technion – Israel Institute of Technology
  • The talk will be given in English

The mathematical theory of nonlinear cooperative control relies heavily on notions from graph theory and passivity theory. A general analysis result is known about cooperative control of maximally equilibrium-independent passive systems, relating steady-states of the closed-loop system to optimal solutions of certain static convex network optimization problems. This relation has many applications in various areas of multi-agent systems, e.g. model-free control, network identification, and fault detection and isolation.

However, when trying to apply the framework to passive-short systems directly, it fails, as the cost function in the optimization problem becomes non-convex, or even undefined. We show the network optimization framework can be extended to output-passive short systems by regularizing the said optimization problems, inducing a passivizing feedback term on the agents. We explore two methods of doing so. We then study systems with general shortage of passivity, showing that a passivizing transformation can always be found by an analogous regularization process. We exemplify our results by case studies.

Light refreshments will be served before the lecture
For more info
Please fill in the details

"*" indicates required fields

This field is for validation purposes and should be left unchanged.
*required fields are marked with an asterisk