Distributed Differential Games for Control of Multi-Agent Systems
Domenico Cappello, Thulasi Mylvaganam
Abstract
Motivated by the challenges arising in the field of multi-agent system (MAS) control, we consider linear heterogeneous MAS subject to local communication and investigate the problem of designing distributed controllers for such systems. We provide a game theoretic framework for systematically designing distributed controllers, taking into account individual objectives of the agents and their possibly incomplete knowledge of the MAS. Linear state-feedback control laws are obtained via the introduction of a <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">distributed differential game</i> , namely, the combination of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">local non-cooperative differential games</i> , which are solved in a decentralized fashion. Conditions for stability of the MAS are provided for the special cases of acyclic and strongly connected communication graph topologies. These results are then exploited to provide stability conditions for general graph topologies. The proposed framework is demonstrated on a tracking synchronization problem associated with the design of a distributed secondary voltage controller for microgrids and on a numerical example.