Adaptive Synchronization for Heterogeneous Multi-Agent Systems with Switching Topologies

Rosa, Muhammad Ridho

doi:10.3390/machines6010007

Cited by 10 publications

(7 citation statements)

References 26 publications

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“…Remark 3.3: In many practical systems, the impacts of time-delays and singular phenomena must be considered in order to describe them accurately, which makes that systems can be better designed, analyzed and applied. However, Gao et al (2017); Yang and Liu (2016); Zhang and Wang (2018); Rosa (2018); Cong et al (2018); Zheng et al (2017); and Xi et al (2014) investigated consensus problems for MASs without communication delays. The consensus problem was considered for discrete-time time-delayed DMAS in Yang and Liu (2017), and output consensus problems were addressed for DMASs with delays in Xi et al (2016) and Wang et al (2018).…”

Section: Resultsmentioning

confidence: 99%

“…The exogenous disturbance observer was presented to reach admissible consensus (Zhang and Wang, 2018). In Rosa (2018), a Lyapunov-based approach was derived to reveal that error converged asymptotically to zero. Moreover, Cong et al (2018) studied the containment control of DMASs such that all the followers tended to the convex hull about the leaders.…”

Section: Introductionmentioning

confidence: 99%

“…For DMASs with switching topology, guaranteed-cost consensus problem was addressed (Xi et al, 2014). Nevertheless, the effects of communication delays on consensus were not considered in Cong et al (2018); Gao et al (2017); Rosa (2018); Xi et al (2014); Yang and Liu (2016); Zhang and Wang (2018); and Zheng et al (2017).…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Consensus conditions for higher-order descriptor multi-agent systems with communication time-delays

Gao

Zhang

Duan

et al. 2020

Transactions of the Institute of Measurement and Control

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In this paper, the consensus problem for higher-order descriptor multi-agent systems (DMASs) with time-delays is investigated. Firstly, a distributed consensus protocol based on output feedback is proposed. Secondly, the state transformation is presented to convert the consensus problem into the stability problem. Based on the Lyapunov theory and the linear matrix inequality (LMI) method, sufficient conditions in terms of LMIs are derived to ensure that consensus of DMASs can be achieved. Moreover, the consensus problem for higher-order DMASs with delays is solved under two cases where interaction topologies are undirected and directed, which is more complicated and challenging. Finally, numerical simulations are provided to demonstrate the effectiveness of our results.

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Consensus conditions for higher-order descriptor multi-agent systems with communication time-delays

Gao

Zhang

Duan

et al. 2020

Transactions of the Institute of Measurement and Control

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“…Some recent studies considered distributed adaptive synchronization to harmonize multiagent systems with large uncertainties and heterogeneous agents, but they mostly assumed linear systems and identical dimensions for all agents [17], [18]. For networks that change topology over time, adaptive control methods have been proposed to guarantee stability for uncertain switched linear systems [19], [20]. A robust synchronization method was proposed in [21] for linear multiagent systems with uncertainty in the agent dynamics.…”

Section: Review Of Current Approachesmentioning

confidence: 99%

Probabilistic Message-Passing Control

Herzallah¹,

Lowe

Qarout

2022

IEEE Trans. Syst. Man Cybern, Syst.

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There is insufficient current understanding of how to apply fully decentralized control to networks of sparsely coupled nonlinear dynamical subsystems subject to noise to track a desired state. As exemplars, this class of problem is motivated by practical requirements of creating decentralized power grids robust to cascade failures, the digital transformation of Industry 4.0 managing IoT connectivity reliably, and controlling transport flow in smart cities by computing at the edge. We demonstrate that an approach utilizing probability theory to characterize and exploit the uncertainty in locally received information, and locally optimized messages passed between neighboring subsystems is sufficient to implicitly infer global knowledge. Thus, control of a global state could be realized through decentralized control signals applied only to local subsystems using only local information without any reference to a global current state. Given a global system that can be decomposed into a set of locally coupled subsystems, we develop a theoretical method of probabilistic message passing and probabilistic control signals all interacting only at the subsystem level, but which promotes a system-wide convergence to a desired state. Our theoretical results are corroborated using computational experiments on a network of a 10-node partially coupled system decomposed into four separated subsystems with control inputs applied and determined at the subsystem level. Comparing the results with a centralized control method utilizing information from all the nodes to achieve global state convergence validates our hypothesis that local decentralized probabilistic control can be affected by the mechanism of local probabilistic message passing without needing access to global centralized information. We also provide a set of numerical experiments increasing the network size showing that the decentralized algorithm is independent of the global system size.

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“…The synchronization of linear heterogeneous uncertain agents via distributed model reference adaptive control has been proposed, leading to asymptotic synchronization without any sliding mode [19]. The distributed model reference adaptive control framework allows the states/output and the input to be shared between the neighbors [20,21]. The extended version of the framework in the nonlinear domain has been proposed to synchronize uncertain heterogenous Euler-Lagrange (EL) in the directed acyclic networks [22].…”

Section: Introductionmentioning

confidence: 99%

Leader–Follower Synchronization of Uncertain Euler–Lagrange Dynamics with Input Constraints

Rosa

2020

Aerospace

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This paper addresses the problem of leader–follower synchronization of uncertain Euler–Lagrange systems under input constraints. The problem is solved in a distributed model reference adaptive control framework that includes positive μ-modification to address input constraints. The proposed design has the distinguishing features of updating the gains to synchronize the uncertain systems and of providing stable adaptation in the presence of input saturation. By using a matching condition assumption, a distributed inverse dynamics architecture is adopted to guarantee convergence to common dynamics. The design is studied analytically, and its performance is validated in simulation using spacecraft dynamics.

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Adaptive Synchronization for Heterogeneous Multi-Agent Systems with Switching Topologies

Cited by 10 publications

References 26 publications

Consensus conditions for higher-order descriptor multi-agent systems with communication time-delays

Consensus conditions for higher-order descriptor multi-agent systems with communication time-delays

Probabilistic Message-Passing Control

Leader–Follower Synchronization of Uncertain Euler–Lagrange Dynamics with Input Constraints

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