State Emulator-Based Adaptive Architectures for Resilient Networked Multiagent Systems Over Directed and Time-Varying Graphs

2015 ◽  
Author(s):  
Gerardo De La Torre ◽  
Tansel Yucelen
Keyword(s):  
Multiagent Systems ◽  
Multiagent System ◽  
Time Varying ◽  
System Behavior ◽  
Adverse Conditions ◽  
Distributed Adaptive Control ◽  
Adaptive Architectures ◽  
Exogenous Disturbances ◽  
The Stability ◽  
Networked Multiagent Systems

In this paper, we present adaptive architectures for networked multiagent systems operating over directed networks to achieve resilient coordination in the presence of disturbances. Specifically, we consider a class of unforeseen adverse conditions consisting of persistent exogenous disturbances and present a state emulator-based distributed adaptive control architecture to retrieve the nominal networked multiagent system behavior. The stability properties of the proposed architecture are analyzed using results from Lyapunov stability and matrix mathematics. Illustrative numerical examples are provided to demonstrate the theoretical findings.

scholarly journals Consensus Analysis of High-Order Multiagent Systems with General Topology and Asymmetric Time-Delays

2014 ◽  
Vol 2014 ◽  
pp. 1-10
Author(s):  
Fangcui Jiang
Keyword(s):  
Multiagent Systems ◽  
Network Topology ◽  
Time Delays ◽  
Multiagent System ◽  
High Order ◽  
Directed Network ◽  
Time Varying ◽  
Consensus Analysis ◽  
Robust Consensus ◽  
Selection Of

This paper focuses on the consensus problem for high-order multiagent systems (MAS) with directed network and asymmetric time-varying time-delays. It is proved that the high-order multiagent system can reach consensus when the network topology contains a spanning tree and time-delay is bounded. The main contribution of this paper is that a Lyapunov-like design framework for the explicit selection of protocol parameters is provided. The Lyapunov-like design guarantees the robust consensus of the high-order multiagent system with respect to asymmetric time-delays and is independent of the exact knowledge of the topology when the communication linkages among agents are undirected and connected.

scholarly journals Consensus Tracking of Multiagent Systems with Time-Varying Reference State and Exogenous Disturbances

2014 ◽  
Vol 2014 ◽  
pp. 1-7
Author(s):  
Hong-yong Yang ◽  
Hai-lin Zou ◽  
Hui-xia Liu ◽  
Fei Liu ◽  
Mei Zhao ◽  
...  
Keyword(s):  
Multiagent Systems ◽  
Tracking Control ◽  
Path Following ◽  
Reference State ◽  
Time Varying ◽  
Switching Topologies ◽  
Consensus Tracking ◽  
Exogenous Disturbance ◽  
Exogenous Disturbances ◽  
Path Following Algorithm

The tracking control of multiagent dynamical systems with exogenous disturbances is studied. A path following algorithm with a time-varying reference state is proposed, and the path tracking of multiagent systems with exogenous disturbance is analyzed. Under the influence of the disturbances, a disturbance observer is developed to estimate the exogenous disturbances. Asymptotical consensus of the multiagent systems with time-varying reference state and exogenous disturbances under the disturbance observers-based control (DOBC) can be achieved for fixed and switching topologies. Finally, by applying an example of multiagent systems with switching topologies and exogenous disturbances, the consensus tracking of multiagent systems with time-varying reference state is reached under the DOBC with the designed parameters.

scholarly journals Finite-Time Consensus of Networked Multiagent Systems with Time-Varying Linear Control Protocols

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Jiayan Wen ◽  
Chen Wang ◽  
Wenguang Luo ◽  
Guangming Xie
Keyword(s):  
Multiagent Systems ◽  
Finite Time ◽  
Linear Feedback ◽  
Time Varying ◽  
Communication Graph ◽  
Linear Feedback Control ◽  
First Order ◽  
Preset Time ◽  
Control Protocols ◽  
Networked Multiagent Systems

Finite-time consensus problems for networked multiagent systems with first-order/second-order dynamics are investigated in this paper. The goal of this paper is to design local information based control protocols such that the systems achieve consensus at any preset time. In order to realize this objective, a class of linear feedback control protocols with time-varying gains is introduced. We prove that the multiagent systems under such kinds of time-varying control protocols can achieve consensus at the preset time if the undirected communication graph is connected. Numerical simulations are presented to illustrate the effectiveness of the obtained theoretic results.

Resilient Control of Linear Time-Invariant Networked Multiagent Systems

2017 ◽  
Author(s):  
J. Daniel Peterson ◽  
Gerardo De La Torre ◽  
Tansel Yucelen ◽  
Dzung Tran ◽  
K. Merve Dogan ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Multiagent Systems ◽  
Linear Time ◽  
Relevant Literature ◽  
System Level ◽  
Linear Time Invariant ◽  
Distributed Adaptive Control ◽  
Exogenous Disturbances ◽  
Network Topologies ◽  
Time Invariant

A local state emulator-based adaptive control law is proposed for multiagent systems with agents having linear time-invariant dynamics. Specifically, we present and analyze a distributed adaptive control architecture, where agents achieve system-level goals in the presence of exogenous disturbances. Apart from existing relevant literature that makes specific assumptions on network topologies, agent dynamics, and/or the fraction of agents subjected to disturbances, the proposed approach allows agents to achieve system-level goals — even when all agents are subject to exogenous disturbances. Several numerical examples are provided to demonstrate the efficacy of our approach.

A Finite-Time Consensus Framework Over Time-Varying Graph Topologies With Temporal Constraints

2017 ◽  
Vol 139 (7) ◽  
Author(s):  
Zhen Kan ◽  
Tansel Yucelen ◽  
Emily Doucette ◽  
Eduardo Pasiliao
Keyword(s):  
Multiagent Systems ◽  
Finite Time ◽  
Information Exchange ◽  
Multiagent System ◽  
Initial Conditions ◽  
Time Frame ◽  
Time Instant ◽  
Global Network ◽  
Time Varying ◽  
Temporal Constraints

Finite-time consensus has attracted significant research interest due to its wide applications in multiagent systems. Various results have been developed to enable multiagent systems to complete desired tasks in finite-time. However, most existing results in the literature can only ensure finite-time consensus without considering temporal constraints, where the time used to achieve consensus cannot be preset arbitrarily and is generally determined by the system initial conditions, prohibiting its application in time-sensitive tasks. Motivated to achieve consensus within a desired time frame, user-specified finite-time consensus is developed in the present work for a multiagent system to ensure consensus at a prespecified time instant. The interaction among agents (e.g., communication and information exchange) is modeled as a time-varying graph, where each edge is associated with a time-varying weight representing the time-varying interaction between neighboring agents. Consensus over such time-varying graph is then proven based on a time transformation and is guaranteed to be completed within a prespecified time frame. To demonstrate the developed framework, finite-time rendezvous of a multiagent system is considered as an example application, where agents with limited communication capabilities are desired to meet at a common location at a preset time instant with constraints on preserving global network connectivity. A numerical simulation is provided to demonstrate the efficiency of the developed result.

scholarly journals Stabilization Methods for a Multiagent System with Complex Behaviours

2015 ◽  
Vol 2015 ◽  
pp. 1-19 ◽  
Author(s):  
Florin Leon
Keyword(s):  
Stability Analysis ◽  
Multiagent Systems ◽  
Multiagent System ◽  
A Priori ◽  
Heuristic Methods ◽  
Asymptotically Stable ◽  
Interaction Protocol ◽  
Different Types ◽  
Observed Behaviour ◽  
The Stability

The main focus of the paper is the stability analysis of a class of multiagent systems based on an interaction protocol which can generate different types of overall behaviours, from asymptotically stable to chaotic. We present several interpretations of stability and suggest two methods to assess the stability of the system, based on the internal models of the agents and on the external, observed behaviour. Since it is very difficult to predict a priori whether a system will be stable or unstable, we propose three heuristic methods that can be used to stabilize such a system during its execution, with minimal changes to its state.

scholarly journals Distributed Coordination of Fractional Dynamical Systems with Exogenous Disturbances

2014 ◽  
Vol 2014 ◽  
pp. 1-7 ◽  
Author(s):  
Hongyong Yang ◽  
Fujun Han ◽  
Fei Liu ◽  
Huixia Liu ◽  
Mei Zhao
Keyword(s):  
Dynamical Systems ◽  
Multiagent Systems ◽  
State Observer ◽  
The State ◽  
Distributed Coordination ◽  
External Disturbances ◽  
Reference Tracking ◽  
Exogenous Disturbances ◽  
The Stability ◽  
Fractional Dynamical System

Distributed coordination of fractional multiagent systems with external disturbances is studied. The state observer of fractional dynamical system is presented, and an adaptive pinning controller is designed for a little part of agents in multiagent systems without disturbances. This adaptive pinning controller with the state observer can ensure multiple agents' states reaching an expected reference tracking. Based on disturbance observers, the controllers are composited with the pinning controller and the state observer. By applying the stability theory of fractional order dynamical systems, the distributed coordination of fractional multiagent systems with external disturbances can be reached asymptotically.

scholarly journals Control of Networked Multiagent Systems With Uncertain Graph Topologies

2015 ◽  
Author(s):  
Tansel Yucelen ◽  
J. Daniel Peterson ◽  
Kevin L. Moore
Keyword(s):  
Distributed Control ◽  
Multiagent Systems ◽  
Multiagent System ◽  
Reference Model ◽  
Current Control ◽  
Uncertain Graph ◽  
Graph Topology ◽  
Control Laws ◽  
Physical Network ◽  
Networked Multiagent Systems

Multiagent systems consist of agents that locally exchange information through a physical network subject to a graph topology. Current control methods for networked multiagent systems assume the knowledge of graph topologies in order to design distributed control laws for achieving desired global system behaviors. However, this assumption may not be valid for situations where graph topologies are subject to uncertainties either due to changes in the physical network or the presence of modeling errors especially for multiagent systems involving a large number of interacting agents. Motivating from this standpoint, this paper studies distributed control of networked multiagent systems with uncertain graph topologies. The proposed framework involves a controller architecture that has an ability to adapt its feedback gains in response to system variations. Specifically, we analytically show that the proposed controller drives the trajectories of a networked multiagent system subject to a graph topology with time-varying uncertainties to a close neighborhood of the trajectories of a given reference model having a desired graph topology. As a special case, we also show that a networked multiagent system subject to a graph topology with constant uncertainties asymptotically converges to the trajectories of a given reference model. Although the main result of this paper is presented in the context of average consensus problem, the proposed framework can be used for many other problems related to networked multiagent systems with uncertain graph topologies.

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