50,511 research outputs found
Distributed Robust Consensus Control of Multi-agent Systems with Heterogeneous Matching Uncertainties
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
Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators
This paper presents a solution based on dual quaternion algebra to the
general problem of pose (i.e., position and orientation) consensus for systems
composed of multiple rigid-bodies. The dual quaternion algebra is used to model
the agents' poses and also in the distributed control laws, making the proposed
technique easily applicable to time-varying formation control of general
robotic systems. The proposed pose consensus protocol has guaranteed
convergence when the interaction among the agents is represented by directed
graphs with directed spanning trees, which is a more general result when
compared to the literature on formation control. In order to illustrate the
proposed pose consensus protocol and its extension to the problem of formation
control, we present a numerical simulation with a large number of free-flying
agents and also an application of cooperative manipulation by using real mobile
manipulators
Dynamic Quantized Consensus of General Linear Multi-agent Systems under Denial-of-Service Attacks
In this paper, we study multi-agent consensus problems under
Denial-of-Service (DoS) attacks with data rate constraints. We first consider
the leaderless consensus problem and after that we briefly present the analysis
of leader-follower consensus. The dynamics of the agents take general forms
modeled as homogeneous linear time-invariant systems. In our analysis, we
derive lower bounds on the data rate for the multi-agent systems to achieve
leaderless and leader-follower consensus in the presence of DoS attacks, under
which the issue of overflow of quantizer is prevented. The main contribution of
the paper is the characterization of the trade-off between the tolerable DoS
attack levels for leaderless and leader-follower consensus and the required
data rates for the quantizers during the communication attempts among the
agents. To mitigate the influence of DoS attacks, we employ dynamic
quantization with zooming-in and zooming-out capabilities for avoiding
quantizer saturation
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