A distributed control strategy for connectivity preservation of multi-agent systems subject to actuator saturation

Saboori, Iman; Nayyeri, H.; Khorasani, K.

doi:10.1109/acc.2013.6580459

Cited by 11 publications

(35 citation statements)

References 14 publications

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“…The practical significance of the conclusion is that controllers based on the generalized potential function (1) are unconstrained by the actuator design/selection and need no modifications to account for actuator saturation. Controllers unconstrained by actuator saturation exploit the system actuation better and converge faster, as observed for single robot control in [52], [53] and verified for single-integrator MAS-s through simulation comparison to the controller [18] in Section V.…”

Section: A Single-integrator Systemsmentioning

confidence: 71%

“…Unconstrained controller design can also improve system performance [52]. Simulations in Section V verify that unconstrained gradient-based control is simpler to design and can drive a kinematic MAS to connectivity-preserving consensus faster than the saturation-dependent strategy in [18].…”

Section: Introductionmentioning

confidence: 91%

“…Hence, the auxiliary variables s i in (23) transform the closedloop agent dynamics from (18) to (24). The dynamics (24) inherit the passivity of (18)…”

Section: System Uncertaintiesmentioning

confidence: 99%

“…Remark 8. The control law (23) converts the closed-loop agent dynamics (18) into the cascaded interconnection of the passive dynamics (24) and (25).The output s of the dynamics (24) is input to the dynamics (25). Because the dynamics (25) are input-to-state stable with input s, making s → 0 through the control of (24) is sufficient to guarantee the coordination of the Euler-Lagrange MAS.…”

Section: System Uncertaintiesmentioning

confidence: 99%

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Connectivity-Preserving Synchronization of Time-Delay Euler–Lagrange Networks With Bounded Actuation

Yuan

Shi

Constantinescu

2021

IEEE Trans. Cybern.

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This paper investigates the impact of bounded actuation on the connectivity-preserving consensus of two classes of multi-agent systems, with kinematic agents and with Euler-Lagrange agents. The investigation establishes that: (1) there exists a class of gradient-based controls which drive kinematic multi-agent systems to connectivity-preserving consensus even if they saturate; (2) actuator saturation restricts the initial states from which Euler-Lagrange multi-agent systems can be synchronized while preserving their local connectivity; (3) Euler-Lagrange multi-agent systems with unbounded actuation can achieve connectivity-preserving consensus without velocity measurements or exact system dynamics; and (4) a proposed indirect coupling control strategy drives Euler-Lagrange multi-agent systems with limited actuation and starting from rest to connectivitypreserving consensus without requiring velocity measurements and including in the presence of uncertain dynamics and timevarying delays. consensus of second-order MAS-s. This paper will show that the answer depends on the initial state of the MAS. At the communications level, recurrent proximity maintenance [22]-[24], switching graphs [44]-[46], directed graphs [21] and intermittent algebraic connectivity estimators [47], [48] tackle threats to connectivity due to limited agent communication ranges. Threats due to time-varying communication delays are considered only for attitude synchronization [49], for Euler-Lagrange MAS-s with uncertain parameters [50] and for Euler-Lagrange MAS-s without velocity measurements [51]. The dangers posed to the connectivitypreserving consensus of Euler-Lagrange MAS-s by combined communication delays and limited actuation are unclear. This paper will show how to overcome those combined dangers for Euler-Lagrange MAS-s that start from rest even if they have uncertain dynamics and only position measurements.The paper contributes to research on connectivity-preserving consensus of MAS-s with bounded actuation as follows:• First, by regarding saturated actuation as scaling of the

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Section: A Single-integrator Systemsmentioning

confidence: 71%

Section: Introductionmentioning

confidence: 91%

“…Hence, the auxiliary variables s i in (23) transform the closedloop agent dynamics from (18) to (24). The dynamics (24) inherit the passivity of (18)…”

Section: System Uncertaintiesmentioning

confidence: 99%

Section: System Uncertaintiesmentioning

confidence: 99%

See 2 more Smart Citations

Connectivity-Preserving Synchronization of Time-Delay Euler–Lagrange Networks With Bounded Actuation

Yuan

Shi

Constantinescu

2021

IEEE Trans. Cybern.

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“…Connectivity maintenance with bounded control input has been recently investigated in several works. However, to the best of the authors' knowledge, bounded input techniques available at the state of the art address the local connectivity maintenance problem that aims at preserving over time the original set of links that define the connectivity graph [10]- [15]. Clearly, the preservation of each link of the communication graph is a very restrictive requirement which significantly limits the capability of the multi-robot system itself.…”

Section: Introductionmentioning

confidence: 98%

Collective control objective and connectivity preservation for multi-robot systems with bounded input

Gasparri

Leccese

Ulivi

2014

2014 American Control Conference

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In this work, we address the connectivity maintenance problem for a team of mobile robots which move according to a given collective control objective. In our framework, the interaction among the robots is limited by a given visibility radius both in terms of sensing and communication.For this scenario, we propose a bounded control law which can provably preserve the connectivity of the multi-robot system over time even in the presence of any desired bounded control objective. Furthermore, we characterize the effects of the connectivity control term on the collective control objective, in terms of robustness of the desired control objective to the disturbance of the connectivity, by resorting to the set Inputto-State Stability framework (set-ISS). For the validation of the proposed bounded connectivity control law we consider the encirclement problem as an example of collective control objective. Simulations are provided to corroborate the theoretical results.

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An Overview of Cooperative and Consensus Control of Multiagent Systems

Davoodi

Gallehdari

Saboori

et al. 2016

Wiley Encyclopedia of Electrical and Electronics Engineering

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There has been a growing interest toward the development of networked unmanned autonomous systems that can operate without an extensive involvement of humans. The motivation for this focus can be traced to the emergence of applications where direct human intervention is not possible due to the environmental hazards, complexity of the tasks, or other restrictions. These networks can consist of a large number of dynamical systems (agents), such as unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), and unmanned underwater vehicles (UUVs). These systems commonly include a number of sensors, actuators, and decisionmakers. Therefore, the network of these systems is a network of a large number of sensors and actuators or, as is known in the literature, a system of systems (SoS). In this work, we provide a brief overview of controlling these networks, their applications, and the solutions that are proposed for these problems in the literature. Specifically, this article overviews recent results and progress made on multiagent consensus by focusing on cooperative control and consensus (formation) control in the presence of communication, control implementation, and saturation constraints. In addition, we review the active areas of event‐triggered consensus control, network security and attacks on the agents, and networks and resilient consensus control strategies that are proposed to handle these challenges.

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A distributed control strategy for connectivity preservation of multi-agent systems subject to actuator saturation

Cited by 11 publications

References 14 publications

Connectivity-Preserving Synchronization of Time-Delay Euler–Lagrange Networks With Bounded Actuation

Connectivity-Preserving Synchronization of Time-Delay Euler–Lagrange Networks With Bounded Actuation

Collective control objective and connectivity preservation for multi-robot systems with bounded input

An Overview of Cooperative and Consensus Control of Multiagent Systems

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