Distributed Coordinated Control of Large-Scale Nonlinear Networks

TL;DR

This paper introduces a decentralized sum-of-squares method for stability analysis and control of large-scale nonlinear networks, enabling local agents to coordinate and stabilize the entire system efficiently.

Contribution

It presents a novel decentralized approach for computing comparison systems and designing local control policies for large nonlinear networks using vector Lyapunov functions.

Findings

Successfully applied to Van der Pol network example.

Achieved exponential stabilization of the entire system.

Demonstrated effectiveness of distributed control strategy.

Abstract

We provide a distributed coordinated approach to the stability analysis and control design of large-scale nonlinear dynamical systems by using a vector Lyapunov functions approach. In this formulation the large-scale system is decomposed into a network of interacting subsystems and the stability of the system is analyzed through a comparison system. However finding such comparison system is not trivial. In this work, we propose a sum-of-squares based completely decentralized approach for computing the comparison systems for networks of nonlinear systems. Moreover, based on the comparison systems, we introduce a distributed optimal control strategy in which the individual subsystems (agents) coordinate with their immediate neighbors to design local control policies that can exponentially stabilize the full system under initial disturbances.We illustrate the control algorithm on a network of interacting Van der Pol systems.