Decentralized chassis control with guaranteed performance: A lyapunov approach

This paper presents a Lyapunov-based method for verification and synthesis of decentralized chassis control systems. The method provides performance guarantees without exposing the control algorithms of each agent. We use a Lyapunov derivative condition to guarantee stability and set invariance of the closed-loop system. Agents are asked to exchange polynomials that represent the influence of the control actions on the system dynamics, while the control algorithms are kept secret. Dual decomposition is used to ensure that the solution converges and is equivalent to that of a centralized solution.