Naslov
Decentralized Cooperative Control in Degraded Communication Environments

Autori
Tolić, Domagoj ; Palunko, Ivana ; Ivanović, Antun ; Car, Marko ; Bogdan, Stjepan

Vrsta, podvrsta i kategorija rada
Poglavlja u knjigama, znanstveni

Knjiga
Control of Complex Systems: Theory and Applications

Urednik/ci
Vamvoudakis, K. G. ; Jagannathan. S.

Izdavač
Elsevier

Grad
Oxford

Godina
2016

Raspon stranica
373-395

ISBN
9780128052464

Ključne riječi
Multi-Agent Systems, Time-Delay Systems, Lp-Stability, Set Stability

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA