Decentralized Cooperative Control in Degraded Communication Environments (CROSBI ID 56073)
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Podaci o odgovornosti
Tolić, Domagoj ; Palunko, Ivana ; Ivanović, Antun ; Car, Marko ; Bogdan, Stjepan
engleski
Decentralized Cooperative Control in Degraded Communication Environments
We compute transmission rates and delays that provably stabilize multiagent systems (MASs) in the presence of disturbances and noise. Namely, given the existing information delay among the agents and the underlying communication topology, we determine the rates at which information between the agents needs to be exchanged such that the MAS of interest is Lp- stable with bias, where this bias accounts for noisy data. To consider MASs characterized by sets of equilibrium points, the notions of Lp- stability (with bias) and Lp-detectability with respect to a set are employed. Using arguments of the Lyapunov-Razumikhin type, we are able to consider delays greater than the transmission intervals. Our method is applicable to general (not merely to single- and double-integrator) heterogeneous linear agents, directed topologies, and output feedback. The computed transmission rates are experimentally verified by use of a group of off-the-shelf quadcopters.
Multi-Agent Systems, Time-Delay Systems, Lp-Stability, Set Stability
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Podaci o prilogu
373-395.
objavljeno
Podaci o knjizi
Control of Complex Systems: Theory and Applications
Vamvoudakis, K. G. ; Jagannathan. S.
Oxford: Elsevier
2016.
9780128052464