Parametrization of All Distributed Controllers for Networked Multi-agent Systems

Abstract

In this paper, a parametrization of all distributed controllers based on the gradient-flow method is presented for networked multi-agent systems. By using the proposed parametrization, the first step in designing controllers will be to present a class of distributed controllers. Then, desired controllers are designed by determining the rest of freedom of controllers, which is represented by free parameters, according to tasks. The new design procedure removes the trial-and-error to keep the distributedness of controllers from conventional design methods. The proposed parametrization will be a strong tool to assist in designing distributed controllers for various kinds of tasks.