Scale-free Design for Delayed Regulated Synchronization of Homogeneous and Heterogeneous Discrete-time Multi-agent Systems Subject to Unknown Non-uniform and Arbitrarily Large Communication Delays
Donya Nojavanzadeh, Zhenwei Liu, Ali Saberi, Anton A. Stoorvogel
备注：
18 pages, 10 figures, a short version of this paper will be submitted to ACC 2021. arXiv admin note: text overlap with arXiv:2004.09498, arXiv:2004.13014
In this paper, we study delayed regulated state/output synchronization for discrete-time homogeneous and heterogeneous networks of multi-agent systems (MAS) subject to unknown, non-uniform and arbitrarily large communication delays. A delay transformation is utilized to transform the original MAS to a new system without delayed states. The proposed scale-free dynamic protocols are developed solely based on agent models and localized information exchange with neighbors such that we do not need any information about the communication networks and the number of agents.
This paper studies global regulated state synchronization of discrete-time double-integrator multi-agent systems subject to actuator saturation by utilizing localized information exchange. We propose a scale-free linear protocol that achieves global regulated state synchronization for any network with arbitrary number of agents and arbitrarily directed communication graph that has a path between each agent and exosystem which generates the reference trajectory.
In this paper, we consider scalable output and regulated output synchronization problems for heterogeneous networks of right-invertible linear agents based on localized information exchange where in the case of regulated output synchronization, the reference trajectory is generated by a so-called exosystem. We assume that all the agents are introspective, meaning that they have access to their own local measurements. We propose a scale-free linear protocol for each agent to achieve output and regulated output synchronizations. These protocols are designed solely based on agent models and they …
This paper studies regulated state synchronization of homogeneous networks of non-introspective agents in presence of unknown nonuniform input delays. A scale-free protocol is designed based on additional information exchange, which does not need any knowledge of the directed network topology and the spectrum of the associated Laplacian matrix. The proposed protocol is scalable and achieves state synchronization for any arbitrary number of agents. Meanwhile, an upper bound for the input delay tolerance is obtained, which explicitly depends on the agent dynamics.
This paper studies scale-free protocol design for H_\infty almost output and regulated output synchronization of heterogeneous multi-agent systems with linear, right-invertible, and introspective agents in presence of external disturbances. The collaborative linear protocol designs are based on localized information exchange over the same communication network, which do not require any knowledge of the directed network topology and spectrum of the associated Laplacian matrix. Moreover, the proposed scale-free protocols achieve H_\infty almost synchronization with a given arbitrary degree of ac…
This paper studies global regulated state synchronization of homogeneous networks of non-introspective agents in presence of input saturation. We identify three classes of agent models which are neutrally stable, double-integrator, and mixed of double-integrator, single-integrator and neutrally stable dynamics. A \textit{scale-free linear observer-based} protocol design methodology is developed based on localized information exchange among neighbors where the reference trajectory is given by a so-called exosystem which is assumed to be globally reachable. Our protocols do not need any knowledg…
This paper studies regulated state synchronization of discrete-time homogeneous networks of non-introspective agents in presence of unknown non-uniform input delays. A scale free protocol is designed based on additional information exchange, which does not need any knowledge of the directed network topology and the spectrum of the associated Laplacian matrix. The proposed protocol is scalable and achieves state synchronization for any arbitrary number of agents. Meanwhile, an upper bound for the input delay tolerance is obtained, which explicitly depends on the agent dynamics.
Delayed state synchronization of continuous-time multi-agent systems in the presence of unknown communication delays (including complete proofs)
College of Information Science and Engineering, Northeastern University（东北大学信息科学与工程学院）；School of Electrical Engineering and Computer Science, Washington State University（华盛顿州立大学电气与计算机工程学院）；Department of Electrical Engineering, Mathematics and Computer Science, University of Twente（特温特大学电气、数学与计算机科学系）；School of Statistics and Mathematics, Shanghai Lixin University of Accounting and Finance（上海立信会计金融学院统计与数学学院）
The finite time stability (FnTSta) theory of delayed systems has not been set up until now. In this paper, we propose a two-phases-method (2PM), to achieve this object. In the first phase, we prove that the time for norm of system error evolving from initial values to 1 is finite; then in the second phase, we prove that the time for norm of the error evolving from 1 to 0 is also finite, thus FnTSta is obtained. Considering the cost and complexity of controller, we use only two simple terms to realize this aim. For the proposed 2PM, time delays can be the same or asynchronous, bounded or unboun…
This paper studies global and semi-global regulated state synchronization of homogeneous networks of non-introspective agents in presence of input saturation based on additional information exchange where the reference trajectory is given by a so-called exosystem which is assumed to be globally reachable. Our protocol design methodology does not need any knowledge of the directed network topology and the spectrum of the associated Laplacian matrix. Moreover, the proposed protocol is scalable and achieves synchronization for any arbitrary number of agents.
Scalable Exact Output Synchronization of Discrete-Time Multi-Agent Systems in the Presence of Disturbances and Measurement Noise With Known Frequencies
Resonant rectifier topologies would be a promising candidate for achieving simple, compact, and reliable single-stage wireless power transfer (WPT) receiver if not for the lack of good DC regulation capability. This paper investigates the problems that prevent the feasibility of single-stage DC regulation in resonant rectifier topologies. A possible solution is the proposed differential resonant rectifier topology, of which the rectifier is designed to have a relatively constant AC voltage, and that phase shift control is used to achieve relatively good output regulation. Design considerations…
Recent years have seen a great increase in the capacity and parallel processing power of data centers and cloud services. To fully utilize the said distributed systems, optimal load balancing for parallel queuing architectures must be realized. Existing state-of-the-art solutions fail to consider the effect of communication delays on the behaviour of very large systems with many clients. In this work, we consider a multi-agent load balancing system, with delayed information, consisting of many clients (load balancers) and many parallel queues. In order to obtain a tractable solution, we model …
In this brief, we set up the finite time stability (FnTSta) theory for dynamical systems with bounded time-varying delays via aperiodically intermittent control (AIC) and quantized control (QC). A more general QC is designed in this brief. The bound of time-varying delay is required to be less than the infimum in AIC. Two-phases-method (2PM) is applied to solve the FnTSta for delayed system, i.e., it divides the whole proof process into two phases, one phase is that the process for the norm of system error evolving from initial values to $1$, and the other is the process for the norm of system…
