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Seungjoon Lee,Hongkeun Kim 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
This paper studies the synchronization problem of Lur’e-type nonlinear systems. For the analysis, the concept of incremental output-feedback passivity (iOFP) is introduced and generalized using the shortage of passivity. It is shown that Lur’e-type nonlinear system is iOFP and examples are presented. Using iOFP, a sufficient condition (which is in form of sector condition) is proposed for the Lur’e-type nonlinear systems to achieve the synchronization using static output diffusive couplings. Results are further extended to nonlinear coupling under fully connected network. Numerical simulations are given to demonstrate the proposed results.
Blended dynamics approach for analysis and construction of distributed optimization algorithms
Seungjoon Lee,Hyungbo Shim 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
In this paper, the recently proposed concept of blended dynamics of a heterogeneous multi-agent system is introduced. Although the blended dynamics is originally proposed for the analysis of heterogeneous multi-agent system, it is argued that the same approach provides a flexible framework for the analysis and construction of the distributed algorithms. The utility of the proposed approach is first illustrated by systematically constructing the distributed gradient descent algorithm from the centralized gradient descent method. The proposed approach is further extended to derive two variants of distributed algorithms utilizing the heavy-ball method. Finally, drawback of the proposed approach is identified and integral action is employed to resolve the issue.