Swarming Behavior of Multiple Euler-Lagrange Systems With Cooperation-Competition Interactions: An Auxiliary System...

Area of Science:

• Control Theory
• Robotics
• Networked Systems

Background:

• Investigating swarming behavior in multi-agent systems with cooperation-competition dynamics.
• Addressing challenges posed by uncertain system parameters and complex interaction networks.

Purpose of the Study:

• To achieve distributed stabilization for Euler-Lagrange systems with uncertain parameters.
• To develop a distributed consensus tracking strategy for cooperative-competitive multi-agent systems.

Main Methods:

• Introducing an auxiliary system for each agent to bypass the digon sign-symmetry condition.
• Utilizing the input-output property of the auxiliary system for control design.
• Proposing a new pinning control strategy based on the auxiliary system and the concept of equi-competition.

Main Results:

• Distributed stabilization is achieved when the cooperation subnetwork is strongly connected and auxiliary system parameters are well-chosen.
• The proposed pinning control strategy enables distributed consensus tracking in cooperative-competitive systems.
• Illustrative examples validate the effectiveness of the developed theoretical framework.

Conclusions:

• The study successfully demonstrates distributed stabilization and consensus tracking for complex multi-agent systems.
• The novel auxiliary system and pinning control approach offer a robust solution for systems with uncertain parameters and cooperation-competition interactions.
• This work advances the understanding and control of emergent behaviors in networked autonomous systems.