Implementation of Cooperative Dynamic Behaviors in Networked Systems with Controllability Preservation
نویسندگان
چکیده
Decentralized control of networked systems has been widely investigated in the literature, with the aim of obtaining coordinated emerging behaviors (e.g. synchronization, swarming, coverage, formation control) by means of local interaction. In this paper we consider the possibility of injecting external inputs into the networked system, in order to obtain more complex cooperative behaviors. Specifically, modeling the dynamics of the networked system as a standard LTI system, we introduce a strategy to ensure preservation of the controllability property of the networked system, under time varying topologies. Then, we introduce a strategy that makes it possible to control the overall state of the networked system by directly controlling only a subset of the networked agents, namely the leaders. Exploiting local interaction rules, it is possible to define the leaders inputs in such a way that each follower is forced to track a desired periodic setpoint.
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