Stability Analysis of Multi-Agent Tracking Systems with Quasi-Cyclic Switching Topologies

In this paper, the stability problem of a class of multi-agent tracking systems with quasi-cyclic switching topologies is investigated. The existing results of systems with switching topologies are usually achieved based on the assumption that the piecewise constant communication topologies are connected and the switchings are cyclic. The communication topologies are possible to be unconnected and it is difficult to guarantee the topologies switch circularly. The piecewise unconnected topology makes the interactive multi-agent tracking system to be an unstable subsystem over this time interval. In order to relax the assumption constraint, a quasi-cyclic method is proposed, which allows the topologies of multi-agent systems to switch in a less conservative way. Moreover, the stability of the tracking system with the existence of unstable subsystems is analyzed based on switched control theory. It is obtained that the convergence rate is affected by the maximum dwell time of unstable subsystems. Finally, a numerical example is provided to demonstrate the effectiveness of the theoretical results.

Download Full-text

Consensus stability in multi-agent systems with periodically switched communication topology using Floquet theory

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331220969055 ◽

2020 ◽

pp. 014233122096905

Author(s):

Mohammad Maadani ◽

Eric A Butcher

Keyword(s):

Feedback Linearization ◽

Floquet Theory ◽

Kuramoto Model ◽

Multi Agent Systems ◽

Agent Systems ◽

Unstable Subsystems ◽

Special Cases ◽

Communication Topology ◽

Multi Agent ◽

The Stability

The stability of consensus in linear and nonlinear multi-agent systems with periodically switched communication topology is studied using Floquet theory. The proposed strategy is illustrated for the cases of consensus in linear single-integrator, higher-order integrator, and leader-follower consensus. In addition, the application of Floquet theory in analyzing special cases such as switched systems with joint connectivity, unstable subsystems, and nonlinear systems, including the use of feedback linearization and local linearization in the Kuramoto model, is also studied. By utilizing Floquet theory for multi-agent systems with periodically switched communication topologies, one can simultaneously evaluate the effects of each subsystem’s convergence rate and dwell time on overall behavior. Numerical simulation results are presented to demonstrate the efficacy of the proposed approach in stability analysis of all these cases.

Download Full-text

Fuzzy-based Dissipative Consensus for Multi-Agent Systems with Markov Switching Topologies

IFAC-PapersOnLine ◽

10.1016/j.ifacol.2020.12.2446 ◽

2020 ◽

Vol 53 (2) ◽

pp. 4127-4131

Author(s):

Jiafeng Yu ◽

Peng Shi ◽

Qinsheng Li ◽

Wen Xing ◽

Mohammed Chadli ◽

...

Keyword(s):

Markov Switching ◽

Multi Agent Systems ◽

Agent Systems ◽

Switching Topologies ◽

Multi Agent

Download Full-text

Scaled consensus problem for multi-agent systems with semi-Markov switching topologies: A view from the probability

Journal of the Franklin Institute ◽

10.1016/j.jfranklin.2021.02.002 ◽

2021 ◽

Author(s):

Xing Guo ◽

Jinling Liang ◽

Jianquan Lu

Keyword(s):

Markov Switching ◽

Consensus Problem ◽

Multi Agent Systems ◽

Agent Systems ◽

Switching Topologies ◽

Multi Agent

Download Full-text

Distributed Adaptive Formation Tracking Control under Fixed and Switching Topologies: Application on General Linear Multi-Agent Systems

Symmetry ◽

10.3390/sym13060941 ◽

2021 ◽

Vol 13 (6) ◽

pp. 941

Author(s):

Tianhao Sun ◽

Huiying Liu ◽

Yongming Yao ◽

Tianyu Li ◽

Zhibo Cheng

Keyword(s):

Switching Topology ◽

General Linear ◽

Time Varying ◽

Multi Agent System ◽

Multi Agent Systems ◽

Agent System ◽

Switching Topologies ◽

Formation Tracking ◽

Leader Following ◽

Multi Agent

In this paper, the time-varying formation tracking problem of the general linear multi-agent system is discussed. A distributed formation tracking protocol based on Riccati inequalities with adaptive coupling weights among the follower agents and the leader agent is designed for a leader-following multi-agent system under fixed and switching topologies. The formation configuration involved in this paper is expressed as a bounded piecewise continuously differentiable vector function. The follower agents will achieve the desired formation tracking trajectory of the leader. In traditional static protocols, the coupling weights depend on the communication topology and is a constant. However, in this paper, the coupling weights are updated by the state errors among the neighboring agents. Moreover, the stability analysis of the MAS under switching topology is presented, and proves that the followers also could achieve pre-specified time-varying formation, if the communication graph is jointly connected. Two numerical simulations indicate the capabilities of the algorithms.

Download Full-text