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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, 2219-2225 p.Conference 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. 2219-2225 p.
Series
IEEE Conference on Decision and Control. Proceedings, ISSN 0191-2216
Keyword [en]
Coordination, Systems, Agents
National Category
Robotics
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: 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: 2013-12-19Bibliographically approved

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Karayiannidis, YiannisDimarogonas, DimosKragic, Danica

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