Consensus of a nonlinear multi-agent system with output measurements

Rehák, Branislav; Lynnyk, Volodymyr

doi:10.1016/j.ifacol.2021.10.387

Cited by 2 publications

(1 citation statement)

References 21 publications

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“…Such formulations, primarily considered for agents with single and double integrators models (see, e.g., [ 9 ]) have been then investigated for more general linear systems, as in [ 10 ]. Consensus of nonlinear agents using output feedback has been analysed, for instance, in [ 11 ] and an algorithm based on feedback linearisation of nonlinear agents with output measurements may be found in [ 12 ]. In [ 13 ], a stability analysis from the perspective of a hybrid modelling is proposed using invariant sets and the Lyapunov stability theory.…”

Section: Introductionmentioning

confidence: 99%

H∞ State-Feedback Control of Multi-Agent Systems with Data Packet Dropout in the Communication Channels: A Markovian Approach

Stoica

Stoicu

2022

Entropy

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The paper presents an H∞ type control procedure for multi-agent systems taking into account possible data dropout in the communication network. The data dropout is modelled using a standard homogeneous Markov chain leading to an H∞ type control problem for stochastic multi-agent systems with Markovian jumps. The considered H∞ type criterion includes, besides the components corresponding to the attenuation condition of exogenous disturbance inputs, quadratic terms aiming to acquire the consensus between the agents. It is shown that in the case of identical agents, a state-feedback controller with Markov parameters may be determined solving two specific systems of Riccati equations whose dimension does not depend on the number of agents. Iterative procedures to solve such systems are also presented together with an illustrative numerical example.

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Section: Introductionmentioning

confidence: 99%

H∞ State-Feedback Control of Multi-Agent Systems with Data Packet Dropout in the Communication Channels: A Markovian Approach

Stoica

Stoicu

2022

Entropy

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Synchronization of Multi-Agent Systems Composed of Second-Order Underactuated Agents

Rehák,

Lynnyk,

Lynnyk

2024

Mathematics

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The consensus problem of a multi-agent system with nonlinear second-order underactuated agents is addressed. The essence of the approach can be outlined as follows: the output is redesigned first so that the agents attain the minimum-phase property. The second step is to apply the exact feedback linearization to the agents. This transformation divides their dynamics into a linear observable part and a non-observable part. It is shown that consensus of the linearizable parts of the agents implies consensus of the entire multi-agent system. To achieve the consensus of the original system, the inverse transformation of the exact feedback linearization is applied. However, its application causes changes in the dynamics of the multi-agent system; a way to mitigate this effect is proposed. Two examples are presented to illustrate the efficiency of the proposed synchronization algorithm. These examples demonstrate that the synchronization error decreases faster when the proposed method is applied. This holds not only for the states constituting the linearizable dynamics but also for the hidden internal dynamics.

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Consensus of a nonlinear multi-agent system with output measurements

Cited by 2 publications

References 21 publications

H∞ State-Feedback Control of Multi-Agent Systems with Data Packet Dropout in the Communication Channels: A Markovian Approach

H∞ State-Feedback Control of Multi-Agent Systems with Data Packet Dropout in the Communication Channels: A Markovian Approach

Synchronization of Multi-Agent Systems Composed of Second-Order Underactuated Agents

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