kth.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Multi-agent average consensus control with prescribed performance guarantees
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0001-5129-342X
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0001-7309-8086
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2965-2953
2012 (English)In: 2012 IEEE 51st Annual Conference on Decision and Control (CDC), IEEE , 2012, p. 2219-2225Conference paper, Published paper (Refereed)
Abstract [en]

This work proposes a distributed control scheme for the state agreement problem which can guarantee prescribed performance for the system transient. In particular, i) we consider a set of agents that can exchange information according to a static communication graph, ii) we a priori define time-dependent constraints at the edge's space (errors between agents that exchange information) and iii) we design a distributed controller to guarantee that the errors between the neighboring agents do not violate the constraints. Following this technique the contributions are twofold: a) the convergence rate of the system and the communication structure of the agents' network which are strictly connected can be decoupled, and b) the connectivity properties of the initially formed communication graph are rendered invariant by appropriately designing the prescribed performance bounds. It is also shown how the structure and the parameters of the prescribed performance controller can be chosen in case of connected tree graphs and connected graphs with cycles. Simulation results validate the theoretically proven findings while enlightening the merit of the proposed prescribed performance agreement protocol as compared to the linear one.

Place, publisher, year, edition, pages
IEEE , 2012. p. 2219-2225
Series
IEEE Conference on Decision and Control. Proceedings, ISSN 0191-2216
Keywords [en]
Coordination, Systems, Agents
National Category
Robotics and automation
Identifiers
URN: urn:nbn:se:kth:diva-113491DOI: 10.1109/CDC.2012.6426739ISI: 000327200402097Scopus ID: 2-s2.0-84874256135ISBN: 978-1-4673-2066-5 (print)OAI: oai:DiVA.org:kth-113491DiVA, id: diva2:587771
Conference
51st IEEE Conference on Decision and Control, CDC 2012; Maui, HI; United States; 10 December 2012 through 13 December 2012
Funder
Swedish Research CouncilSwedish Foundation for Strategic Research ICT - The Next Generation
Note

QC 20130308

Available from: 2013-01-15 Created: 2013-01-15 Last updated: 2025-02-09Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full textScopus

Authority records

Karayiannidis, YiannisDimarogonas, DimosKragic, Danica

Search in DiVA

By author/editor
Karayiannidis, YiannisDimarogonas, DimosKragic, Danica
By organisation
Computer Vision and Active Perception, CVAPCentre for Autonomous Systems, CASAutomatic Control
Robotics and automation

Search outside of DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 227 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf