Kernel Design and Distributed, Self-Triggered Control for Coordination of Autonomous Multi-Agent Configurations

Robotica ◽  
2018 ◽  
Vol 36 (7) ◽  
pp. 1077-1097 ◽  
Author(s):  
Levi DeVries ◽  
Aaron Sims ◽  
Michael D. M. Kutzer
Keyword(s):  
Experimental Validation ◽  
Graph Transformation ◽  
Multi Agent Systems ◽  
Graph Topology ◽  
Agent Communication ◽  
Agent Systems ◽  
Cloud Server ◽  
Multi Agent ◽  
Kernel Design ◽  
Theoretical Results

SUMMARYAutonomous multi-agent systems show promise in countless applications, but can be hindered in environments where inter-agent communication is limited. In such cases, this paper considers a scenario where agents communicate intermittently through a cloud server. We derive a graph transformation mapping the kernel of a graph's Laplacian to a desired configuration vector while retaining graph topology characteristics. The transformation facilitates derivation of a self-triggered controller driving agents to prescribed configurations while regulating instances of inter-agent communication. Experimental validation of the theoretical results shows the self-triggered approach drives agents to a desired configuration using fewer control updates than traditional periodic implementations.

Formation-containment control of sampled-data second-order multi-agent systems with sampling delay

2018 ◽  
Vol 40 (16) ◽  
pp. 4369-4381 ◽  
Author(s):  
Baojie Zheng ◽  
Xiaowu Mu
Keyword(s):  
Matrix Theory ◽  
Sufficient Conditions ◽  
Second Order ◽  
Control Problems ◽  
Sampled Data ◽  
Multi Agent Systems ◽  
Containment Control ◽  
Agent Systems ◽  
Multi Agent ◽  
Theoretical Results

The formation-containment control problems of sampled-data second-order multi-agent systems with sampling delay are studied. In this paper, we assume that there exist interactions among leaders and that the leader’s neighbours are only leaders. Firstly, two different control protocols with sampling delay are presented for followers and leaders, respectively. Then, by utilizing the algebraic graph theory and matrix theory, several sufficient conditions are obtained to ensure that the leaders achieve a desired formation and that the states of the followers converge to the convex hull formed by the states of the leaders, i.e. the multi-agent systems achieve formation containment. Furthermore, an explicit expression of the formation position function is derived for each leader. An algorithm is provided to design the gain parameters in the protocols. Finally, a numerical example is given to illustrate the effectiveness of the obtained theoretical results.

The Science of Social Emergence

2009 ◽  
pp. 1-16 ◽  
Author(s):  
R. Keith Sawyer
Keyword(s):  
Scientific Study ◽  
Multi Agent Systems ◽  
Agent Communication ◽  
Agent Modeling ◽  
Agent Systems ◽  
Agent Communication Languages ◽  
Interaction Processes ◽  
Multi Agent ◽  
Rigorous Study ◽  
Social Emergence

Sociology should be the foundational science of social emergence. But to date, sociologists have neglected emergence, and studies of emergence are more common within microeconomics. Moving forward, I argue that a science of social emergence requires two advances beyond current approaches—and that sociology is better positioned than economics to make these advances. First, consistent with existing critiques of microeconomics, I argue that we need a more sophisticated representation of individual agents. Second, I argue that multi-agent models need a more sophisticated representation of interaction processes. The agent communication languages currently used by multi-agent systems researchers are not appropriate for modeling human societies. I conclude by arguing that the scientific study of interaction and emergence will have to migrate out of microeconomics and become a part of sociology. Sociologists, for their part, should embrace multi-agent modeling to pursue a more rigorous study of these traditional sociological issues.

Sampled intermittent control for consensus of multi-agent systems with variable activated intervals

2017 ◽  
Vol 40 (5) ◽  
pp. 1521-1528
Author(s):  
Yan Wang ◽  
Hong Zhou ◽  
Zhi-Wei Liu ◽  
Wenshan Hu ◽  
Wei Wang
Keyword(s):  
Sufficient Conditions ◽  
Nonnegative Matrix ◽  
Switching Topology ◽  
Intermittent Control ◽  
Multi Agent Systems ◽  
Time Intervals ◽  
Agent Systems ◽  
Multi Agent ◽  
Velocity Information ◽  
Theoretical Results

In this paper, a new kind of intermittent control is proposed to study consensus problems of multi-agent systems with second-order dynamics. In particular, we consider the case that the information transmission occurs at sampling instants and the velocity information is not available for feedback. The proposed control only regulates the velocity of agents in a given sequence of disconnected time intervals, called activated intervals, after sampling instants. Remarkably, both the sampling and activated intervals are not required to be identical. By adopting algebraic graph theory and nonnegative matrix, some sufficient conditions are obtained for guaranteeing the consensus of the multi-agent systems under the switching topology. Finally, the numerical examples are included to illustrate the theoretical results.

scholarly journals Formation Control of Multi-Agent Systems with Region Constraint

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-6 ◽  
Author(s):  
Zhengquan Yang ◽  
Qing Zhang ◽  
Zengqiang Chen
Keyword(s):  
Formation Control ◽  
Convex Set ◽  
Local Information ◽  
Control Law ◽  
Multi Agent Systems ◽  
Numerical Examples ◽  
Agent Systems ◽  
Multi Agent ◽  
Theoretical Results ◽  
Multi Agents

In this paper, the formation problem for multi-agent systems with region constraint is studied while few researchers consider this problem. The goal is to control all multi-agents to enter the constraint area while reaching formation. Each agent is constrained by a common convex set. A formation control law is presented based on local information of the neighborhood. It is proved that the positions of all the agents would converge to the set constraint while reaching formation. Finally, two numerical examples are presented to illustrate the validity of the theoretical results.

Couple-group consensus for second-order multi-agent systems with the effect of second-order neighbours’ information

2017 ◽  
Vol 40 (5) ◽  
pp. 1726-1737 ◽  
Author(s):  
Yulan Gao ◽  
Junyan Yu ◽  
Mei Yu ◽  
Yue Xiao ◽  
Jinliang Shao
Keyword(s):  
Time Delays ◽  
Model Transformation ◽  
Second Order ◽  
Linear Matrix ◽  
Group Consensus ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
The Impact ◽  
Theoretical Results

This paper investigates a couple-group consensus problem of second-order multi-agent systems with the impact of second-order neighbours’ information. For systems with/without time delays, couple-group consensus criteria are established in the form of linear matrix inequalities by utilizing both model transformation and stability theories. The main results indicate that the group consensus for multi-agent systems under the effect of second-order neighbours’ information can be achieved based on the premise of a generalized balanced couple. Finally, illustrative examples are presented to demonstrate the effectiveness of the theoretical results.

scholarly journals Consensus tracking problem for linear fractional multi-agent systems with initial state error

2020 ◽  
Vol 25 (5) ◽  
Author(s):  
Dahui Luo ◽  
JingRong Wang ◽  
Dong Shen
Keyword(s):  
Tracking Problem ◽  
Multi Agent Systems ◽  
Initial State ◽  
Agent Systems ◽  
Consensus Tracking ◽  
Multi Agent ◽  
P Type ◽  
Asymptotical Convergence ◽  
Theoretical Results ◽  
State Error

In this paper, we discuss the consensus tracking problem by introducing two iterative learning control (ILC) protocols (namely, Dα-type and PDα-type) with initial state error for fractional-order homogenous and heterogenous multi-agent systems (MASs), respectively. The initial state of each agent is fixed at the same position away from the desired one for iterations. For both homogenous and heterogenous MASs, the Dα-type ILC rule is first designed and analyzed, and the asymptotical convergence property is carefully derived. Then, an additional P-type component is added to formulate a PDα-type ILC rule, which also guarantees the asymptotical consensus performance. Moreover, it turns out that the PDα-type ILC rule can further adjust the final performance. Two numerical examples are provided to verify the theoretical results.

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