785 research outputs found
Scale-free Design for Delayed Regulated Synchronization of Homogeneous and Heterogeneous Discrete-time Multi-agent Systems Subject to Unknown Non-uniform and Arbitrarily Large Communication Delays
In this paper, we study delayed regulated state/output synchronization for
discrete-time homogeneous and heterogeneous networks of multi-agent systems
(MAS) subject to unknown, non-uniform and arbitrarily large communication
delays. A delay transformation is utilized to transform the original MAS to a
new system without delayed states. The proposed scale-free dynamic protocols
are developed solely based on agent models and localized information exchange
with neighbors such that we do not need any information about the communication
networks and the number of agents.Comment: 18 pages, 10 figures, a short version of this paper will be submitted
to ACC 2021. arXiv admin note: text overlap with arXiv:2004.09498,
arXiv:2004.1301
Scale-free Protocol Design for Output Synchronization of Heterogeneous Multi-agent subject to Unknown, Non-uniform and Arbitrarily Large Input Delays
This paper studies output synchronization problems for heterogeneous networks
of continuous- or discrete-time right-invertible linear agents in presence of
unknown, non-uniform and arbitrarily large input delay based on localized
information exchange. It is assumed that all the agents are introspective,
meaning that they have access to their own local measurements. Universal linear
protocols are proposed for each agent to achieve output synchronizations.
Proposed protocols are designed solely based on the agent models using no
information about communication graph and the number of agents or other agent
models information. Moreover, the protocols can tolerate arbitrarily large
input delays.Comment: 9 pages, 3 figures, short version of this paper will be presented at
Chinese Control Conference 2020. arXiv admin note: text overlap with
arXiv:2002.06577, arXiv:2001.02117, arXiv:1908.06535, arXiv:2004.0949
Consensus of multi-agent systems and stabilization of large-scale systems with time delays and nonlinearities - a comparison of both problems
summary:The problem of stabilization of large-scale systems and the consensus problem of multi-agent systems are related, similar tools for their solution are used. Therefore, they are occasionally confused. Although both problems show similar features, one can also observe important differences. A comparison of both problems is presented in this paper. In both cases, attention is paid to the explanation of the effects of the time delays. The most important fact is that, if the time delays are heterogeneous, full synchronization of the multi-agent systems cannot be achieved; however, stabilization of the large-scale network is reachable. In the case of nonlinear systems, we show that the stabilization of a large-scale nonlinear system is possible under more restrictive assumptions compared to the synchronization of a nonlinear multi-agent system
An Overview of Recent Progress in the Study of Distributed Multi-agent Coordination
This article reviews some main results and progress in distributed
multi-agent coordination, focusing on papers published in major control systems
and robotics journals since 2006. Distributed coordination of multiple
vehicles, including unmanned aerial vehicles, unmanned ground vehicles and
unmanned underwater vehicles, has been a very active research subject studied
extensively by the systems and control community. The recent results in this
area are categorized into several directions, such as consensus, formation
control, optimization, task assignment, and estimation. After the review, a
short discussion section is included to summarize the existing research and to
propose several promising research directions along with some open problems
that are deemed important for further investigations
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