Observer-Based Stabilization for Linear Multi-Agent Dynamical Systems Using Generalized Frequency Variables
Provides theoretical foundations for observer-based stabilization in multi-agent systems, relevant to control theory researchers working on networked dynamical systems.
The paper develops networked controllers and observers for homogeneous linear multi-agent systems, establishing a separation principle that allows independent design of observer and controller for stable output feedback. The approach is validated on an unstable oscillatory network of pendulums on carts.
We address the conditions and design of controllers and observers for homogeneous networks of linear MIMO agents. We develop networked controllers and observers that ensure the stability of both the system state and the estimation error, leveraging the concept of generalized frequency variables. A separation principle for networks is then established, showing that the observer and controller can be designed independently and combined to achieve a stable output feedback. Our results are illustrated via a highly unstable, oscillatory network of locally actuated pendulums on carts. Finally, necessary conditions for controllability and observability -- derived from agent properties and network structure -- are established and discussed.