Formation-Control Stability and Communication Capacity of Multiagent Systems: A Joint Analysis

Abstract

The focus of this study is a joint analysis of the stability of formation control and the capacity of wireless communications between agents moving in a formation. The main results derived in this study show a connection between the second moment stability/convergence of formation control and the expected capacity of the data communications for multiagent systems in which the collective behavior of the multiple agents is dominated by formation control with random errors. More specifically, by developing a joint control-communication framework for the performance analysis, we investigate whether random errors in the formation control have a destructive influence on the data communications between agents. We prove that the expected capacity of the multiagent data communication link has a nonvanishing lower bound that can be evaluated through second moment performance analysis. The results from simulations indicate that the theoretical analysis provides reasonable lower bounds for different system parameters.

Identifying Disconnected Agents in Multiagent Systems via External Estimators

“…where ε i,j (t) := ε i,j,p + βε i,j,v . Assume that all elements of ε i,j (t) are independent white noises [32], [35]; that is, by letting ε i,j,l (t) be the lth entry of ε i,j (t), one can have that ε i,j,l (t) ∼ N(0, σ 2 ) for every i, j, l, and any t, and that {ε i,j,l (t)} are stationary processes, where ε ı,j 1 ,l 1 (t 1 ) and ε ,j 2 ,l 2 (t 2 ) are independent for ı = ,…”

“…) and obtain (36). After obtaining (35) and (36), we finally complete the proof by applying [40, 4. Two cases considered in the simulations, which have the same desired formation shape but different communication graphs G a .…”

Multiple leaders formation tracking with switching topology and aperiodic sampled data under intermittent control scheme

“…There are many studies about formation control of one leader 9‐11 . Compared with a single leader, multiple leaders can improve the fault tolerance of the system.…”