scholarly journals LQR Based Optimal Topology of Hybrid-Weighted Multiagent Systems

2018 ◽  
Vol 2018 ◽  
pp. 1-14 ◽  
Author(s):  
Shuai Liu ◽  
Zhijian Ji ◽  
Haisheng Yu ◽  
Ting Hou
Keyword(s):  
Multiagent Systems ◽  
Composite Structure ◽  
Information Exchange ◽  
Multiagent System ◽  
Linear Quadratic Regulator ◽  
Optimal Topology ◽  
Information Communication ◽  
Linear Quadratic ◽  
Control Cost ◽  
First Order

In this paper, the optimal topology structure is studied for hybrid-weighted leader-follower multiagent systems (MASs). The results are developed by taking advantage of linear quadratic regulator (LQR) theory. We show that the multiagent star composite structure is the optimal topology which can enable the MAS to achieve the bipartite consensus. In particular, we prove that the optimal topology corresponding to the multiagent system with the first-order static leader and the second-order dynamic leader is, respectively, a hybrid-weighted star composite structure and an unevenly hybrid-weighted star composite structure. The results of the paper indicate that, in addition to the necessary information communication between leader and followers, the information exchange among followers increases the control cost of the system.

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 Controllability of Multiagent Systems with a Directed Tree

2015 ◽  
Vol 2015 ◽  
pp. 1-8
Author(s):  
Li Wang ◽  
Xiao Han
Keyword(s):  
Multiagent Systems ◽  
Multiagent System ◽  
Necessary Conditions ◽  
New Method ◽  
Information Communication ◽  
Controllability Problem ◽  
Directed Tree ◽  
Numerical Examples ◽  
Sufficient And Necessary Conditions ◽  
Theoretical Results

This paper addresses the controllability problem of multiagent systems with a directed tree based on the classic agreement protocol, in which the information communication topologies being a directed tree and containing a directed tree are both investigated. Different from the literatures, a new method, the star transform, is proposed to study the controllability of multiagent systems with directed topology. Some sufficient and necessary conditions are given for the controllability of such multiagent system. Numerical examples and simulations are proposed to illustrate the theoretical results.

scholarly journals Environments in multiagent systems

2005 ◽  
Vol 20 (2) ◽  
pp. 127-141 ◽  
Author(s):  
DANNY WEYNS ◽  
MICHAEL SCHUMACHER ◽  
ALESSANDRO RICCI ◽  
MIRKO VIROLI ◽  
TOM HOLVOET
Keyword(s):  
Multiagent Systems ◽  
Real World ◽  
System Application ◽  
Multiagent System ◽  
Spatial Domain ◽  
Research Community ◽  
Agent Systems ◽  
First Order ◽  
Systems Research ◽  
Action Model

There is a growing awareness in the multiagent systems research community that the environment plays a prominent role in multiagent systems. Originating from research on behavior-based agent systems and situated multiagent systems, the importance of the environment is now gradually being accepted in the multiagent system community in general. In this paper, we put forward the environment as a first-order abstraction in multiagent systems. This position is motivated by the fact that several aspects of multiagent systems that conceptually do not belong to agents themselves should not be assigned to, or hosted inside the agents. Examples are infrastructure for communication, the topology of a spatial domain or support for the action model. These and other aspects should be considered explicitly. The environment is the natural candidate to encapsulate these aspects. We elaborate on environment engineering, and we illustrate how the environment plays a central role in a real-world multiagent system application.

A Study on Linear Quadratic Regulator with the Desired Low-Pass Property

2013 ◽  
Vol 133 (12) ◽  
pp. 2167-2175 ◽  
Author(s):  
Katsuhiko Fuwa ◽  
Satoshi Murayama ◽  
Tatsuo Narikiyo
Keyword(s):  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Low Pass

scholarly journals An Analytic and Numerical Investigation of a Differential Game

Axioms ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 66
Author(s):  
Aviv Gibali ◽  
Oleg Kelis
Keyword(s):  
Differential Game ◽  
Equation Approach ◽  
Linear Quadratic ◽  
Control Cost ◽  
Dual Representation ◽  
Cost Functional ◽  
Variational Derivatives ◽  
Zero Sum ◽  
The Cost ◽  
Derivatives Of

In this paper we present an appropriate singular, zero-sum, linear-quadratic differential game. One of the main features of this game is that the weight matrix of the minimizer’s control cost in the cost functional is singular. Due to this singularity, the game cannot be solved either by applying the Isaacs MinMax principle, or the Bellman–Isaacs equation approach. As an application, we introduced an interception differential game with an appropriate regularized cost functional and developed an appropriate dual representation. By developing the variational derivatives of this regularized cost functional, we apply Popov’s approximation method and show how the numerical results coincide with the dual representation.

scholarly journals Neural Network Based Contact Force Control Algorithm for Walking Robots

Sensors ◽  
2021 ◽  
Vol 21 (1) ◽  
pp. 287
Author(s):  
Byeongjin Kim ◽  
Soohyun Kim
Keyword(s):  
Neural Network ◽  
Contact Force ◽  
Force Control ◽  
Control Algorithm ◽  
Position Control ◽  
Linear Quadratic Regulator ◽  
Walking Robots ◽  
Test Model ◽  
Linear Quadratic ◽  
Contact Force Control

Walking algorithms using push-off improve moving efficiency and disturbance rejection performance. However, the algorithm based on classical contact force control requires an exact model or a Force/Torque sensor. This paper proposes a novel contact force control algorithm based on neural networks. The proposed model is adapted to a linear quadratic regulator for position control and balance. The results demonstrate that this neural network-based model can accurately generate force and effectively reduce errors without requiring a sensor. The effectiveness of the algorithm is assessed with the realistic test model. Compared to the Jacobian-based calculation, our algorithm significantly improves the accuracy of the force control. One step simulation was used to analyze the robustness of the algorithm. In summary, this walking control algorithm generates a push-off force with precision and enables it to reject disturbance rapidly.

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