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On robust synchronization of heterogeneous linear multi-agent systems with static couplings
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
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2015 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 53, 392-399 p.Article in journal (Refereed) Published
Abstract [en]

This paper addresses cooperative control problems in heterogeneous groups of linear dynamical agents that are coupled by diffusive links. We study networks with parameter uncertainties, resulting in heterogeneous agent dynamics, and we analyze the robustness of their output synchronization. The networks under consideration consist of non-identical double-integrators and harmonic oscillators. The geometric approach to linear control theory reveals structural requirements for non-trivial output synchronization in such networks. Furthermore, a clock synchronization problem and a circular motion coordination problem are discussed as applications corresponding to these two network types. The results are illustrated by numerical simulations.

Place, publisher, year, edition, pages
2015. Vol. 53, 392-399 p.
Keyword [en]
Synchronization, Multi-agent systems, Diffusive couplings, Heterogeneous networks, Linear systems
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-165226DOI: 10.1016/j.automatica.2015.01.031ISI: 000351961900050Scopus ID: 2-s2.0-84924102781OAI: oai:DiVA.org:kth-165226DiVA: diva2:809914
Note

QC 20150505

Available from: 2015-05-05 Created: 2015-04-24 Last updated: 2017-12-04Bibliographically approved

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Dimarogonas, Dimos V.Johansson, Karl Henrik

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