2019 IEEE 58th Conference on Decision and Control (CDC) 2019
DOI: 10.1109/cdc40024.2019.9029567
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A Game Theoretic Framework for Distributed Control of Multi-Agent Systems with Acyclic Communication Topologies

Abstract: A multi-agent system consisting of heterogeneous agents, described by nonlinear dynamics and with inter-agent communication characterised by a directed acyclic graph, is considered in this paper. A framework for designing distributed control strategies obtained via the combination of local non-cooperative differential games is provided. The resulting dynamic (local) state-feedback control laws can be computed offline and in a decentralised manner. Conditions for ensuring stability of the overall closed-loop sy… Show more

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Cited by 5 publications
(3 citation statements)
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References 20 publications
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“…Remark 1: As suggested in [22, Remark 1], the selection of the matrices Q ij , for j ∈ N −i i , should reflect the possibly incomplete information agent i has regarding the objectives of the agents in its in-neighbourhood. Following the same reasoning of [22], a possible choice of Q ij could be N i N j Q jj N j N i , with N i and N j as defined in (6), so that the running cost would correspond to the actual running cost of agent j, i.e. x j Q jj xj , when the state of the individual system of agent k, for k ∈ N j \ N i , is x k ≡ 0.…”
Section: Problem Formulationmentioning
confidence: 99%
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“…Remark 1: As suggested in [22, Remark 1], the selection of the matrices Q ij , for j ∈ N −i i , should reflect the possibly incomplete information agent i has regarding the objectives of the agents in its in-neighbourhood. Following the same reasoning of [22], a possible choice of Q ij could be N i N j Q jj N j N i , with N i and N j as defined in (6), so that the running cost would correspond to the actual running cost of agent j, i.e. x j Q jj xj , when the state of the individual system of agent k, for k ∈ N j \ N i , is x k ≡ 0.…”
Section: Problem Formulationmentioning
confidence: 99%
“…By Assumption 4, the inequality ( 16), with i = 1, implies Ẇ1 ≤ −σ 1 x 1 2 , i.e. (22) holds with ω 1 = σ 1 . Now suppose that ( 22) holds, for i = k − 1.…”
Section: Of G(v E)mentioning
confidence: 99%
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