Modularized design for cooperative control of cyber-physical systems with disturbances and general cooperative targets

Abstract

In this work, cyber-physical systems (CPSs) are described by networked heterogeneous linear systems and a modularized cooperative control architecture is developed for CPSs with general cooperative targets and external disturbances. The proposed control architecture is composed of low- and high-level controls. The low-level control is to make input-output pairs of the resulting closed-loop systems become passivity-short and the high-level distributed control is to achieve cooperative targets. Different from the current state-of-the-art, a) the presented controls can be modularized, and under the controls, each follower can track the reference trajectory generated by linear dynamical systems while rejecting external disturbances; b) with the aid of regulator equations, the constraint on the resulting closed-loop system matrices containing some specific poles can be removed by the new low-level control. The effectiveness of the proposed method is verified by a numerical example.