Multi-agent based federated control of a class of nonlinear systems

摘要

This paper introduces the general framework of an agent-based federated control motivated by the political structure where partially self-governing states are united by a federal government. A multi-agent based federated control system is composed of local autonomous subsystems (agent-based controllers) that cooperate to provide an overall large-scale system behavior. In this concept, each agent-based controller maintains its own control law for its local stability, and has partial observations of the state of other agents via communication networks. Each agent also locally executes a control law to satisfy the performance requirements at the overall system level. For implementation, we consider the class of mildly nonlinear systems. Overall large scale system stability is analyzed using the Lyapunov's method. Simulation results are presented on the general architecture of controller and the subsystem connectivity for local and global stability.