2 research outputs found
Optimal Network Topology of Multi-Agent Systems subject to Computation and Communication Latency (with proofs)
We study minimum-variance feedback-control design for a networked control
system with retarded dynamics, where inter-agent communication is subject to
latency. We prove that such a design can be solved efficiently for circular
formations and compute near-optimal control gains in closed form. We show that
the centralized control architecture is in general suboptimal when the
communication increase with the number of links, and propose a control-driven
optimization of the network topology.Comment: 18 pages, 9 figure
Cooperative output feedback tracking control of stochastic linear heterogeneous multi-agent systems
We study cooperative output feedback tracking control of stochastic linear
heterogeneous leader-following multi-agent systems. Each agent has a
continuous-time linear heterogeneous dynamics with incompletely measurable
state, and there are additive and multiplicative noises along with information
exchange among agents. We propose a set of admissible distributed observation
strategies for estimating the leader's and the followers' states, and a set of
admissible cooperative output feedback control strategies based on the
certainty equivalence principle. By output regulation theory and stochastic
analysis, we show that for observable leader's dynamics and stabilizable and
detectable followers' dynamics, if the intensity coefficient of multiplicative
noises multiplied by the sum of real parts of the leader' s unstable modes is
less than 1/4 of the minimum non-zero eigenvalue of graph Laplacian, then there
exist admissible distributed observation and cooperative control strategies to
ensure mean square bounded output tracking, provided the associated output
regulation equations are solvable. Finally, the effectiveness of our control
strategies is demonstrated by a numerical simulation