Connections between port-controlled Hamiltonian systems and differential games and their applications to decentralised control of multi-agent systems
File(s)
Published version
Author(s)
Scarpa, Maria Luisa
Mylvaganam, Thulasi
Type
Journal Article
Abstract
Connections between port-controlled Hamiltonian (PCH) systems and differential games are explored in this paper. First, it is shown that a given differential game can be associated with a family of PCH systems. Second, the converse is demonstrated namely that a given PCH system can be associated with a family of differential games. Third, combining these insights, we present a strategy for assigning cost matrices of a differential game, and the free parameters that arise in the context of PCH systems, to achieve a specific closed-loop behaviour, characterised by a desired closed-loop energy function. The construction of the resulting control laws only requires solving linear matrix inequalities. Finally, the latter “integrated approach” is extended to provide a method to design decentralised control laws for a class of networked multi-agent systems.
Date Issued
2026-05-01
Date Acceptance
2026-01-19
Citation
Automatica, 2026, 187
ISSN
0005-1098
Publisher
Elsevier BV
Journal / Book Title
Automatica
Volume
187
Copyright Statement
© 2026 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/).
License URL
Publication Status
Published
Article Number
112913
Date Publish Online
2026-03-12