This paper gives convex conditions for the synthesis of a distributed control system for large-scale networked nonlinear dynamic systems. It is shown that the technique of control contraction metrics can be extended to this problem by utilizing separable metric structures, resulting in controllers that only depend on information from local sensors and communications from immediate neighbors. The conditions given are pointwise linear matrix inequalities, and are necessary and sufficient for linear positive systems and certain monotone nonlinear systems. Distributed synthesis methods for systems on chordal graphs are also proposed based on semidefinite program decompositions. The results are illustrated on a problem of vehicle platooning with heterogeneous vehicles, and a network of nonlinear dynamic systems with over 1000 states that is not feedback linearizable and has an uncontrollable linearization.

中文翻译：

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使用可分离控制收缩度量的分布式非线性控制设计

本文为大型网络非线性动力学系统的分布式控制系统的合成提供了凸条件。结果表明，通过使用可分离的度量结构，可以将控制收缩度量的技术扩展到此问题，从而导致控制器仅依赖于来自本地传感器的信息以及来自直接邻居的通信。给定的条件是逐点线性矩阵不等式，并且对于线性正系统和某些单调非线性系统是必要和充分的。还提出了基于半定程序分解的弦图系统分布式合成方法。该结果说明了异类车辆的排车问题，