| 研究実績の概要 |
The purpose of this research is to develop systematic synthesis methods for effective control of complex networks of dynamic agents. The main achievements of the second (and final) year are summarized as follows.
(1) Collaborating with Prof. Zhiyun Lin in Zhejiang University, we developed a (surplus-based) distributed algorithm for a network of agents to achieve constrained optimization over time-varying networks with general (strongly connected) topologies. This algorithm finds applications in various distributed resource allocation problems. This work was presented at Asian Control Conference and Annual Conference of the Institute of Systems, Control and Information Engineers 2015, and its journal version current under review. (2) Working with my student, we proposed a centralized methodology, based on eigenstructure assignment, to design control algorithms for networks of heterogeneous agents and general specifications (subsuming consensus and formation control). We built an experiment of multiple UAVs (Unmanned Aerial Vehicles) to test the derived theoretic results. This work was presented at the Institute of Systems, Control and Information Engineers meeting 2015. (3) We proposed a distributed internal model principle to solve multi-agent output regulation problem, where not all agents have access to the exosystem's dynamics. We designed a distributed controller that solves the problem for linear, heterogeneous, and uncertain agent dynamics as well as time-varying network topologies. The technical report of this work is available online (arXiv).
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