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Multi-agent systems with compasses: Cooperative and cooperative-antagonistic networks
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2014 (English)Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we first study agreement protocols for coupled continuous-time nonlinear dynamics over cooperative multi-agent networks. To guarantee convergence for such systems, it is common in the literature to assume that the vector field of each agent is pointing inside the convex hull formed by the states of the agent and its neighbors given the relative states between each agent and its neighbors are available. This convexity condition is relaxed in this paper, as we show that it is enough that the vector field belongs to a strict tangent cone based on a local supporting hyperrectangle. The new condition has the natural physical interpretation of adding a compass for each agent in addition to the available local relative states, as each agent needs only to know in which orthant each of its neighbor is. It is proven that the multi-agent system achieves exponential state agreement if and only if the time-varying interaction graph is uniformly jointly quasi-strongly connected. Cooperative-antagonistic multi-agent networks are also considered. For these systems, the (cooperative-antagonistic) relation has a negative sign for arcs corresponding to antagonistic interactions. State agreement may not be achieved for cooperative-antagonistic multi-agent systems. Instead it is shown that asymptotic modulus agreement is achieved if the time-varying interaction graph is uniformly jointly strongly connected.

Place, publisher, year, edition, pages
2014. 1430-1437 p.
Series
Proceedings of the 33rd Chinese Control Conference, CCC 2014, ISSN 1934-1768 ; 6896839
Keyword [en]
cooperative-antagonistic network, modulus agreement, nonlinear systems, State agreement
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-167616DOI: 10.1109/ChiCC.2014.6896839Scopus ID: 2-s2.0-84907938676ISBN: 9789881563842 (print)OAI: oai:DiVA.org:kth-167616DiVA: diva2:813968
Conference
Proceedings of the 33rd Chinese Control Conference, CCC 2014, 28 July 2014 through 30 July 2014
Note

QC 20150525

Available from: 2015-05-25 Created: 2015-05-22 Last updated: 2015-05-25Bibliographically approved

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Johansson, Karl H.

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