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Double-integrator control for MASs with small switching dwell time.

Xiaoqing Lu1, Qianxiong Li1, Jingang Lai2

  • 1School of Electrical Engineering and Automation, Wuhan University, Wuhan 430072, PR China.

ISA Transactions
|January 20, 2021
PubMed
Summary

This study introduces a new distributed controller for multi-agent systems (MASs) to achieve consensus tracking even with frequently disconnected communication networks. The method allows more network disconnections, reducing communication load.

Keywords:
Consensus trackingDisconnected switching topologySwitching dwell time

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Area of Science:

  • Control Theory
  • Networked Systems
  • Robotics

Background:

  • Distributed consensus tracking is crucial for multi-agent systems (MASs).
  • Existing methods struggle with MASs where disconnected network topologies appear frequently.
  • Challenges arise in achieving consensus when switching topologies are predominantly disconnected.

Purpose of the Study:

  • To investigate consensus tracking and average consensus tracking for double-integrator MASs under switching topologies.
  • To design a distributed controller that ensures consensus despite frequent network disconnections.
  • To develop sufficient conditions for stability under complex switching network scenarios.

Main Methods:

  • Utilizing multiple Lyapunov functions and linear matrix inequality (LMI) methods.
  • Designing a neighbor-based distributed controller for each agent.
  • Deriving conditions based on dwell time, connected/disconnected topology ratios, and convergence margins.

Main Results:

  • A novel distributed controller enabling consensus tracking in MASs with frequently disconnected topologies.
  • Quantified switching stability results that permit increased participation of disconnected digraphs.
  • Demonstrated reduction in communication pressure for practical applications.

Conclusions:

  • The proposed method effectively achieves consensus tracking in MASs under challenging switching network conditions.
  • The findings allow for more flexible network configurations, easing communication demands.
  • Simulation results validate the theoretical framework and controller performance.