Sensitivity Analysis of Cooperating Multi-agent Systems with Uncertain Connection Weights

Bhusal, Rajnish; Subbarao, Kamesh

doi:10.23919/acc.2019.8815336

Cited by 7 publications

(2 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…For an overview on synchronization in uncertain multi-agent systems, see Refs. [6,7,9,18] and references therein. Among the abovementioned phenomena, we focus on unknown input disturbances in this paper.…”

Section: Motivationmentioning

confidence: 99%

“…The applications of cooperative control include distributed task assignment and consensus problems, formation flight of spacecrafts and aerial vehicles, distributed estimation problems and so on (see, for example, Refs. [1][2][3][4][5][6]). All of these applications typically require some degree of cooperation and synchronization among the agents.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Set-Membership Filtering-Based Leader-Follower Synchronization of Discrete-time Linear Multi-Agent Systems

Bhattacharjee¹,

Subbarao²

2020

Preprint

Self Cite

View full text Add to dashboard Cite

In this paper, a set-membership filtering-based leaderfollower synchronization protocol for discrete-time linear multi-agent systems is proposed wherein the aim is to make the agents synchronize with a leader. The agents, governed by identical high-order discrete-time linear dynamics, are subject to unknown-but-bounded input disturbances. In terms of its own state information, each agent only has access to measured outputs that are corrupted with unknownbut-bounded output disturbances. Also, the initial states of the agents are unknown. To deal with all these unknowns (or uncertainties), a set-membership filter (or state estimator), having the 'correction-prediction' form of a standard Kalman filter, is formulated. We consider each agent to be equipped with this filter that estimates the state of the agent and consider the agents to be able to share the state estimate information with the neighbors locally. The corrected state estimates of the agents are utilized in the local control law design for synchronization. Under appropriate conditions, the global disagreement error between the agents and the leader is shown to be bounded. An upper bound on the norm of the global disagreement error is calculated and shown to be monotonically decreasing. Finally, two simulation examples are included to illustrate the effectiveness of the proposed set-membership filter and the proposed leaderfollower synchronization protocol.

show abstract

Section: Motivationmentioning

confidence: 99%