6,949 research outputs found

    Guaranteed Cost Tracking for Uncertain Coupled Multi-agent Systems Using Consensus over a Directed Graph

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    This paper considers the leader-follower control problem for a linear multi-agent system with directed communication topology and linear nonidentical uncertain coupling subject to integral quadratic constraints (IQCs). A consensus-type control protocol is proposed based on each agent's states relative to its neighbors and leader's state relative to agents which observe the leader. A sufficient condition is obtained by overbounding the cost function. Based on this sufficient condition, a computational algorithm is introduced to minimize the proposed guaranteed bound on tracking performance, which yields a suboptimal bound on the system consensus control and tracking performance. The effectiveness of the proposed method is demonstrated using a simulation example.Comment: Accepted for presentation at the 2013 Australian Control conferenc

    Distributed Robust Consensus Control of Multi-agent Systems with Heterogeneous Matching Uncertainties

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    This paper considers the distributed consensus problem of linear multi-agent systems subject to different matching uncertainties for both the cases without and with a leader of bounded unknown control input. Due to the existence of nonidentical uncertainties, the multi-agent systems discussed in this paper are essentially heterogeneous. For the case where the communication graph is undirected and connected, a distributed continuous static consensus protocol based on the relative state information is first designed, under which the consensus error is uniformly ultimately bounded and exponentially converges to a small adjustable residual set. A fully distributed adaptive consensus protocol is then designed, which, contrary to the static protocol, relies on neither the eigenvalues of the Laplacian matrix nor the upper bounds of the uncertainties. For the case where there exists a leader whose control input is unknown and bounded, distributed static and adaptive consensus protocols are proposed to ensure the boundedness of the consensus error. It is also shown that the proposed protocols can be redesigned so as to ensure the boundedness of the consensus error in the presence of bounded external disturbances which do not satisfy the matching condition. A sufficient condition for the existence of the proposed protocols is that each agent is stabilizable.Comment: 16 page, 10 figures. This manuscript is an extended version of our paper accepted for publication by Automatic

    COORDINATION OF LEADER-FOLLOWER MULTI-AGENT SYSTEM WITH TIME-VARYING OBJECTIVE FUNCTION

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    This thesis aims to introduce a new framework for the distributed control of multi-agent systems with adjustable swarm control objectives. Our goal is twofold: 1) to provide an overview to how time-varying objectives in the control of autonomous systems may be applied to the distributed control of multi-agent systems with variable autonomy level, and 2) to introduce a framework to incorporate the proposed concept to fundamental swarm behaviors such as aggregation and leader tracking. Leader-follower multi-agent systems are considered in this study, and a general form of time-dependent artificial potential function is proposed to describe the varying objectives of the system in the case of complete information exchange. Using Lyapunov methods, the stability and boundedness of the agents\u27 trajectories under single order and higher order dynamics are analyzed. Illustrative numerical simulations are presented to demonstrate the validity of our results. Then, we extend these results for multi-agent systems with limited information exchange and switching communication topology. The first steps of the realization of an experimental framework have been made with the ultimate goal of verifying the simulation results in practice
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