Compositional abstraction for interconnected systems over Riemannian manifolds: a dissipativity approach

A. Awan, S. Coogan, M. Zamani
IEEE Conference on Decision and Control, 2018


In this work, we derive sufficient conditions under which compositional abstractions of interconnected systems evolving on Riemannian manifolds can be constructed using the interconnection topology and joint differential dissipativity- type properties of subsystems and their abstractions. This allows for a much broader variety of systems than the ones considered in the existing works defined over Euclidean spaces. In the proposed framework, the abstraction, itself a control system (possibly with a lower dimension), can be used as a substitute of the original system in the controller design process. We provide an example to illustrate the effectiveness of the proposed differential dissipativity-type compositional reasoning for interconnected control systems.