Performance certification of interconnected nonlinear systems using ADMM

Author

Meissen, Chris ; Lessard, Laurent ; Arcak, Murat ; Packard, Andrew

Author_Institution

Dept. of Mech. Eng., Univ. of California, Berkeley, Berkeley, CA, USA

fYear

2014

fDate

15-17 Dec. 2014

Firstpage

5131

Lastpage

5136

Abstract

We present a compositional performance certification method for interconnected nonlinear systems, using dissipativity properties of the subsystems along with the interconnection structure. To select the most relevant dissipativity properties, we formulate a large-scale optimization problem, and solve it with the alternating direction method of multipliers (ADMM). The dissipativity properties are allowed to depend on an unknown equilibrium, enabling us to certify performance without explicit knowledge of the equilibrium for the interconnected system. The effectiveness of the algorithm is demonstrated on two examples, including a model of vehicle platoons.

Keywords

interconnected systems; nonlinear control systems; optimisation; ADMM; alternating direction method of multipliers; compositional performance certification; interconnected nonlinear systems; large-scale optimization problem; subsystem dissipativity properties; vehicle platoons; Interconnected systems; Nonlinear systems; Optimization; Polynomials; Topology; Vehicle dynamics; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on

Conference_Location

Los Angeles, CA

Print_ISBN

978-1-4799-7746-8

Type

conf

DOI

10.1109/CDC.2014.7040191

Filename

7040191