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An overview of recent progress in the study of distributed multi-agent coordination
, 2012
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Coordinated output regulation of multiple heterogeneous linear systems
- in: 52th IEEE Conference on Decision and Control
, 2013
"... Abstract—The coordinated output regulation problem for multiple heterogeneous linear systems is studied in this paper. Each agent is modeled as a linear multiple-input multiple-output (MIMO) system with an exogenous input which rep-resents the individual tracking objective for the agent. The multi-a ..."
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Abstract—The coordinated output regulation problem for multiple heterogeneous linear systems is studied in this paper. Each agent is modeled as a linear multiple-input multiple-output (MIMO) system with an exogenous input which rep-resents the individual tracking objective for the agent. The multi-agent system as a whole has a group exogenous input which represents the tracking objective for the whole group. Under the constraints that the group exogenous input is only locally available to each agent and that the agents have only access to their neighbors ’ information, we propose an observer-based feedback controller to solve the coordinated output regulation problem. A high-gain approach is introduced and the information interactions are allowed to be switching over a finite set of fixed networks containing both graphs having a spanning tree and graphs that do not. A lower bound of the high gain parameters is explicitly given. It describes a fundamental relationship between the information interactions, the dwell time, the non-identical dynamics of different agents, and the high gain parameters. I.
Global Consensus forDiscrete-timeMulti-Agent Systems with Input SaturationConstraints
"... In this paper, we consider the global consensus problem for discrete-time multi-agent systems with input saturation constraints under fixed undirected topologies. We first give necessary conditions for achieving global consensus via a distributed protocol based on relative state measurements of the ..."
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In this paper, we consider the global consensus problem for discrete-time multi-agent systems with input saturation constraints under fixed undirected topologies. We first give necessary conditions for achieving global consensus via a distributed protocol based on relative state measurements of the agent itself and its neighboring agents. We then focus on two special cases, where the agent model is either neutrally stable or a double integrator. For the neutrally stable case, any linear protocol of a particular form, which solves the consensus problem for the case without input saturation constraints, also solves the global consensus problem for the case with input saturation constraints. For the double integrator case, we show that a subset of linear protocols, which solve the consensus problem for the case without saturation constraints, also solve the global consensus problem for the case with input saturation constraints. The results are illustrated by numerical simulations.
Designing Purely Decentralized Controllers to Stabilize Non-Minimum-Phase Double Integrator Networks with General Sensing Topologies
"... Abstract—This article examines whether purely decentral-ized controllers can be designed to stabilize networks of double-integrator agents with general observation topologies and iden-tical non-minimum-phase internal dynamics. A new control architecture is proposed, that permits stabilization of suc ..."
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Abstract—This article examines whether purely decentral-ized controllers can be designed to stabilize networks of double-integrator agents with general observation topologies and iden-tical non-minimum-phase internal dynamics. A new control architecture is proposed, that permits stabilization of such non-minimum-phase double-integrator networks. This design provides an alternative to solutions that require information exchange (of controller memory variables) between agents. I.
Set Target Aggregation of Multiple Mechanical Systems
"... Abstract—In this paper, we study the set target aggrega-tion problem of multiple mechanical systems. Each system is modeled by a Lagrangian dynamical equation and observes a convex set as its local target. The objective of the group is to reach an aggregation towards these target sets. We propose a ..."
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Abstract—In this paper, we study the set target aggrega-tion problem of multiple mechanical systems. Each system is modeled by a Lagrangian dynamical equation and observes a convex set as its local target. The objective of the group is to reach an aggregation towards these target sets. We propose a set target aggregation algorithm that is constructed based on each mechanical system’s own target sensing and the exchange of its information with local neighbors. With necessary connectivity for both fixed and switching communication topologies, multiple mechanical systems are shown to converge to the intersection of all the local target sets while the vectors of generalized coordinate derivatives are driven to zero. Simulations are given to validate the theoretical results. I.
Periodic Behaviors in Multi-agent Systems with Input Saturation Constraints
"... Abstract—In this paper, we give conditions for the existence of periodic behaviors in a multi-agent system of identical discrete-time double integrators with input saturation con-straints. If the feedback gain parameters of the controllers, which are based on relative state measurements of the agent ..."
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Abstract—In this paper, we give conditions for the existence of periodic behaviors in a multi-agent system of identical discrete-time double integrators with input saturation con-straints. If the feedback gain parameters of the controllers, which are based on relative state measurements of the agent itself and its neighboring agents, are bounded by a value depending on the largest eigenvalue of the Laplacian matrix, then the multi-agent system exhibits a periodic solution for certain initial conditions. I.
Coordinated Output Regulation of Heterogeneous Linear Systems under Switching Topologies⋆
"... In this paper, we construct a framework to describe and study the coordinated output regulation problem for multiple heterogeneous linear systems. Each agent is modeled as a general linear multiple-input multiple-output system with an autonomous exosystem which represents the individual offset from ..."
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In this paper, we construct a framework to describe and study the coordinated output regulation problem for multiple heterogeneous linear systems. Each agent is modeled as a general linear multiple-input multiple-output system with an autonomous exosystem which represents the individual offset from the group reference for the agent. The multi-agent system as a whole has a group exogenous state which represents the tracking reference for the whole group. Under the constraints that the group exogenous output is only locally available to each agent and that the agents have only access to their neighbors ’ information, we propose observer-based feedback controllers to solve the coordinated output regulation problem using output feedback information. A high-gain approach is used and the information interactions are allowed to be switching over a finite set of networks containing both graphs that have a directed spanning tree and graphs that do not. Simulations are shown to validate the theoretical results.
Synchronization for Multi-agent Systems under Directed Switching Topologies
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