Distributed cooperative control of leader–follower multi-agent systems under packet dropouts for quadcopters

Pan, Ya‐Jun; Werner, Herbert; Huang, Zipeng; Bartels, Marcus

doi:10.1016/j.sysconle.2017.06.002

Cited by 27 publications

(24 citation statements)

References 26 publications

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“…For the consensus problem of networked multi-agent systems, various controller design methodologies, e.g., MPC [16], [32], [33], state-feedback [34], [35], H ∞ controller [15], [18], [30] etc. have been investigated.…”

Section: Related Work and Contribution Of The Papermentioning

confidence: 99%

DistributedH∞ Controller Design and Robustness Analysis for Vehicle Platooning Under Random Packet Drop

Halder

Montanaro

Dixit

et al. 2022

IEEE Trans. Intell. Transport. Syst.

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This paper presents the design of a robust distributed state-feedback controller in the discrete-time domain for homogeneous vehicle platoons with undirected topologies, whose dynamics are subjected to external disturbances and under random single packet drop scenario. A linear matrix inequality (LMI) approach is used for devising the control gains such that a bounded H ∞ norm is guaranteed. Furthermore, a lower bound of the robustness measure, denoted as γ gain, is derived analytically for two platoon communication topologies, i.e., the bidirectional predecessor following (BPF) and the bidirectional predecessor leader following (BPLF). It is shown that the γ gain is highly affected by the communication topology and drastically reduces when the information of the leader is sent to all followers. Finally, numerical results demonstrate the ability of the proposed methodology to impose the platoon control objective for the BPF and BPLF topology under random single packet drop. Index Terms-Vehicle platoon, LMI, distributed H ∞ control with packet drops, robustness of closed-loop system.

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Section: Related Work and Contribution Of The Papermentioning

confidence: 99%

DistributedH∞ Controller Design and Robustness Analysis for Vehicle Platooning Under Random Packet Drop

Halder

Montanaro

Dixit

et al. 2022

IEEE Trans. Intell. Transport. Syst.

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“…In this paper, the platoon problem can be considered as a synchronization problem of a networked dynamical systems with a pinner node [5,11] where a set of agents (i.e. nodes) interact among themselves through network and these nodes are controlled in such a way that the dynamics of all nodes converge towards the pinner node i.e.…”

Section: Platoon Modeling and Control Objectvesmentioning

confidence: 99%

“…The importance of network topology has been described for designing the controller to analyse the closed-loop stability and co-operative motion of the vehicles in a platoon in [5]. Recently, number of advanced control strategies have been implemented to achieve better performances of vehicle platoon using different network topologies [3,[8][9][10][11]. In [8], a distributed receding horizon controller has been designed for platoons under the PF topology while [9] extended the results of [8] with unidirectional topology.…”

Section: Introductionmentioning

confidence: 99%

“…As in [10], the longitudinal dynamics of homogeneous platoon with disturbances has been considered in this work. However, to design the distributed controller for the homogeneous platoon with external disturbances, first, we recast the platoon control problem as a synchronization problem of a multi agent system [8,11], i.e. leader-following consensus under single packet drop scenario using Bernoulli modelling of packet drop distribution is used.…”

Section: Introductionmentioning

confidence: 99%

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Distributed Controller Design for Vehicle Platooning under Packet Drop Scenario

Halder

Montanaro

Gillam

et al. 2020

2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)

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This paper proposes a distributed control strategy for homogeneous platoon systems with external disturbances under random packet drop scenario which can occur due to underlying network among the vehicles in a platoon. An linear matrix inequality (LMI) based approach is used to obtain the controller gains for ensuring the stability with bounded H∞ norm for such systems. Effectiveness of the proposed method is demonstrated with numerical results considering different network topologies in a platoon under single packet drop. The variation of H∞ norm bound for different number of platoon members under the different structure of network topologies and the packet drop has been studied in this paper.

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“…In [23], actuator and communication link fault in networked MAS is discussed. In [24] stochastic communication link failure in distributed leader-follower MAS is investigated. Data dropout for each independent communication link is analyzed using Bernoulli distribution.…”

mentioning

confidence: 99%

Optimal topology for consensus using genetic algorithm

Mondal

Tsourdos

2020

Neurocomputing

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In the Multi-Agent Systems (MAS), graph network topologies play a crucial role in building consensus among the connected agents. Consensus may be achieved on many network graphs using distributed control theory. However, the optimal network topology is not addressed in most of the literature, which is an important part of building stable consensus among networked agents. In this paper, the optimal topology is obtained irrespective of the agent dynamics by using two-dimensional Genetic Algorithm (GA), which is a new approach in this context. Simulation result for agents with first, and second-order linear dynamic is obtained. These results show that the proposed method achieves consensus using the optimal network topology satisfactorily.

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Distributed cooperative control of leader–follower multi-agent systems under packet dropouts for quadcopters

Cited by 27 publications

References 26 publications

DistributedH∞ Controller Design and Robustness Analysis for Vehicle Platooning Under Random Packet Drop

DistributedH∞ Controller Design and Robustness Analysis for Vehicle Platooning Under Random Packet Drop

Distributed Controller Design for Vehicle Platooning under Packet Drop Scenario

Optimal topology for consensus using genetic algorithm

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