Robust consensus controller design for nonlinear relative degree two multi-agent systems with communication constraints

IEEE Transactions on Automatic Control

Volumn 56, Issue 1, 2011, Pages 145-151

  Münz, Ulrich ^a   Papachristodoulou, Antonis ^b   Allgöwer, Frank ^a  

^a UNIVERSITY OF STUTTGART   (Germany)

^b UNIVERSITY OF OXFORD   (United Kingdom)

Author keywords

Consensus; nonlinear relative degree two systems; proximity graphs; time delays

Indexed keywords

COMMUNICATION CONSTRAINTS; COMMUNICATION NETWORKS; CONSENSUS; CONTROLLER DESIGNS; CONTROLLER PARAMETER; DESIGN CONDITION; HETEROGENEOUS AGENTS; HETEROGENEOUS COMMUNICATION; LIMITED COMMUNICATION RANGE; PROXIMITY GRAPHS; RELATIVE DEGREE TWO; ROBUST CONSENSUS; STATIC OUTPUT-FEEDBACK;

COMMUNICATION; CONTROLLERS; HETEROGENEOUS NETWORKS; NONLINEAR FEEDBACK; TIME DELAY;

MULTI AGENT SYSTEMS;

EID: 78651335622     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/TAC.2010.2084150     Document Type: Article

References (38)

1. M. Arcak, "Passivity as a design tool for group coordination," IEEE Trans. Autom. Control, vol. 52, no. 8, pp. 1380-1390, Aug. 2007.
2. N. Chopra and M. Spong, "Passivity-based control of multi-agent systems," in Advances in Robot Control, S. Kaxamura and M. Svinin, Eds. Berlin, Germany: Springer, 2006, pp. 107-134.
3. R. Ortega, A. Loría, P. J. Nicklasson, and H. Sira-Ramírez, Passivity- Based Control of Euler-Lagrange Systems. London, U.K.: Springer, 1998.
4. A. Jadbabaie, J. Lin, and S. Morse, "Coordination of groups of mobile autonomous agents using nearest neighbor rules," IEEE Trans. Autom. Control, vol. 48, no. 6, pp. 988-1001, Jun. 2003.
5. J. Cortés, S. Martínez, and F. Bullo, "Robust rendezvous for mobile autonomous agents via proximity graphs in arbitrary dimensions," IEEE Trans. Autom. Control, vol. 51, no. 8, pp. 1289-1298, Aug. 2006.
6. J. Lin, A. S. Morse, and B. D. O. Anderson, "The multi-agent rendezvous problem. Part 1 and 2," SIAM J. Control Optim., vol. 46, no. 6, pp. 2096-2147, 2007.
7. R. Olfati-Saber, J. A. Fax, and R. M. Murray, "Consensus and cooperation in networked multi-agent systems," Proc. IEEE, vol. 95, no. 1, pp. 215-233, Jan. 2007.
8. W. Ren and R. W. Beard, Distributed Consensus in Multi-Vehicle Cooperative Control. London, U.K.: Springer, 2008.
9. L. Moreau, "Stability of multiagent systems with time-dependent communication links," IEEE Trans. Autom. Control, vol. 50, no. 2, pp. 169-182, Feb. 2005.
10. H. G. Tanner, A. Jadbabaie, and G. J. Pappas, "Flocking in fixed and switching networks," IEEE Trans. Autom. Control, vol. 52, no. 5, pp. 863-868, May 2007.
11. R. Olfati-Saber, "Flocking for multi-agent dynamic systems: Algorithms and theory," IEEE Trans. Autom. Control, vol. 51, no. 3, pp. 401-420, Mar. 2006.
12. P. Wieland, J.-S. Kim, H. Scheu, and F. Allgöwer, "On consensus in multi-agent systems with linear high-order agents," in Proc. IFAC World Congress, Seoul, Korea, 2008, pp. 1541-1546.
13. Z. Qu, Cooperative Control of Dynamical Systems. London, U.K.: Springer, 2009.
14. R. Ghabcheloo, A. P. Aguiar, A. Pascoal, C. Silvestre, I. Kaminer, and J. Hespanha, "Coordinated path-following in the presence of communication losses and time-delays," SIAM J. Control Optim., vol. 48, no. 1, pp. 234-265, 2009.
15. Z. Qu, J.Wang, and R. A. Hull, "Cooperative control of dynamical systems with applications to autonomous vehicles," IEEE Trans. Autom. Control, vol. 53, no. 4, pp. 894-911, May 2008.
16. Z. Lin, B. Francis, and M. Maggiore, "State agreement for continuoustime coupled nonlinear systems," SIAM J. Control Optim., vol. 46, no. 1, pp. 288-307, 2007.
17. D. V. Dimarogonas and K. H. Johansson, "Decentralized connectivity maintenance in mobile networks with bounded inputs," in Proc. IEEE Conf. Robot. Autom., Pasadena, CA, 2008, pp. 1507-1512.
18. M. M. Zavlanos, A. Jadbabaie, and G. J. Pappas, "Flocking while preserving network connectivity," in Proc. IEEE Conf. Decision Control, New Orleans, LA, 2007, pp. 2919-2924.
19. M. M. Zavlanos and G. J. Pappas, "Distributed connectivity control of mobile networks," IEEE Trans. Robot., vol. 24, no. 6, pp. 1416-1428, Jun. 2008.
20. P.-A. Bliman and G. Ferrari-Trecate, "Average consensus problems in networks of agents with delayed communications," Automatica, vol. 44, no. 8, pp. 1985-1995, 2008.
21. U. Münz, A. Papachristodoulou, and F. Allgöwer, "Consensus reaching in multi-agent packet-switched networks," Int. J. Control, vol. 82, no. 5, pp. 953-969, 2009.
22. A. Papachristodoulou, A. Jadbabaie, and U. Münz, "Effects of delay in multi-agent consensus and oscillatior synchronization," IEEE Trans. Autom. Control, vol. 55, no. 6, pp. 1471-1477, Jun. 2010.
23. R. Ghabcheloo, A. P. Aguiar, A. Pascoal, and C. Silvestre, "Synchronization in multi-agent systems with switching topologies and nonhomogeneous communication delays," in Proc. IEEE Conf. Decision Control, New Orleans, LA, 2007, pp. 2327-2332.
24. A. Seuret, D. V. Dimarogonas, and K. H. Johansson, "Consensus of double integrator multi-agents under communication delay," in Proc. IFAC Workshop Time-Delay Syst., Sinaia, Romania, 2009, [CD ROM].
25. C.-L. Liu and Y.-P. Tian, "Coordination of multi-agent systems with communication delays," in Proc. IFAC World Congress, Seoul, Korea, 2008, pp. 10 782-10 787.
26. Y.-P. Tian and C.-L. Liu, "Robust consensus of multi-agent systems with diverse input delays and asymmetric interconnection perturbations," Automatica, vol. 45, no. 5, pp. 1347-1353, 2009.
27. U. Münz, A. Papachristodoulou, and F. Allgöwer, "Delay-dependent rendezvous and flocking of large scale multi-agent systems with communication delays," in Proc. IEEE Conf. Decision Control, Cancun, Mexico, 2008, pp. 2038-2043.
28. W. Yang, A. Bertozzi, and X. Wang, "Stability of a second order consensus algorithm with time delay," in Proc. IEEE Conf. Decision Control, Cancun, Mexico, 2008, pp. 2962-2931.
29. U. Münz, "Delay Robustness in Cooperative Control," Ph.D. dissertation, University of Stuttgart, Stuttgart, Germany, 2010.
30. I. C. Lestas and G. Vinnicombe, "The S-hull approach to consensus," in Proc. IEEE Conf. Decision Contr., New Orleans, LA, 2007, pp. 182-187.
31. D. Lee and M. W. Spong, "Agreement with non-uniform information delays," in Proc. Amer. Control Conf., Minneapolis, MN, 2006, pp. 756-761.
32. U. Münz, A. Papachristodoulou, and F. Allgöwer, "Delay robustness in consensus problems," Automatica, vol. 46, no. 8, pp. 1252-1265, 2010.
33. H. K. Khalil, Nonlinear Systems, 3rd ed. Upper Saddle River, NJ: Prentice-Hall, 2002.
34. D. Helbing, "Traffic and related self-driven many-particle systems," Rev. Modern Phys., vol. 73, no. 4, pp. 1067-1141, 2001.
35. M. Bando, K. Hasebe, K. Nakanishi, and A. Nakayama, "Analysis of optimal velocity model with explicit delay," Phys. Rev. E, vol. 58, no. 5, pp. 5429-5435, 1998.
36. J. Hale and S. M. V. Lunel, Introduction to Functional Differential Equations. New York: Springer, 1993.
37. U. Münz, A. Papachristodoulou, and F. Allgöwer, "Robust rendezvous of heterogeneous Lagrange systems on packet-switched networks," Automatisierungstechnik, vol. 58, no. 4, pp. 184-191, 2010.
38. C. Godsil and G. Royle, Algebraic Graph Theory. New York: Springer, 2000.