Distributed Control Design for Heterogeneous Interconnected Systems

This article presents scalable controller synthesis methods for heterogeneous and partially systems. First, systems composed of different subsystems that are interconnected over a directed graph considered. Techniques from robust gain-scheduled employed, in particular, the full-block S-procedure, to deal with decentralized system part nominal condition interconnection multiplier condition. Under some structural assumptions, we can decompose conditions into size individual subsystems. To solve these decomposed coupled only neighboring subsystems, propose distributed method based on alternating direction multipliers. It requires nearest-neighbor communication no central coordination is needed. Then, new classification introduced consists groups homogeneous types. includes as most general specific case. Based this classification, show how model be formulated more compact way. The computational scalability presented respect growing number interconnections analyzed, results demonstrated numerical examples.