Scale-free Protocol Design for Output and Regulated Output Synchronization of Heterogeneous Multi-agent Systems
Donya Nojavanzadeh, Zhenwei Liu, Ali Saberi, Anton A. Stoorvogel
备注：
The short version of this paper is presented in 2020 American Control Conference Denver, CO, USA. arXiv admin note: text overlap with arXiv:2007.03478, arXiv:2004.13014, arXiv:2004.09498, arXiv:1908.06535, arXiv:2004.13479
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 need no information about communication graph and the number of agents or other agent models information.
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.
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…
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 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.
This paper studies synchronization of homogeneous and heterogeneous discrete-time multi-agent systems. A class of linear dynamic protocol design methodology is developed based on localized information exchange with neighbors which does not need any knowledge of the directed network topology and the spectrum of the associated Laplacian matrix. The main contribution of this paper is that the proposed protocols are scale-free and achieve synchronization for arbitrary number of agents.
This paper presents an online adaptive learning solution to optimal synchronization control problem of heterogeneous multi-agent systems via a novel distributed policy iteration approach.
This paper addresses the output synchronization problem for heterogeneous nonlinear multi-agent systems with distributed event-based controllers. Employing the two-step synchronization process, we first outline the distributed event-triggered consensus controllers for linear reference models under a directed communication topology. It is further shown that the subsequent triggering instants are based on intermittent communication. Secondly, by using certain input-to-state stability (ISS) property, we design an event-triggered perturbed output regulation controller for each nonlinear multi-agen…
The cooperative control applied to vehicles allows the optimization of traffic on the roads. There are many aspects to consider in the case of the operation of autonomous vehicles on highways since there are different external parameters that can be involved in the analysis of a network. In this paper, we present the design and simulation of adaptive control for a platoon with heterogeneous vehicles, taking into account that not all vehicles can communicate their control input, and in turn include structured nonlinear uncertainty input parameters.
This paper studies output synchronization problems for heterogeneous networks of continuous- or discrete-time right-invertible linear agents in presence of unknown, non-uniform and arbitrarily large input delay based on localized information exchange. It is assumed that all the agents are introspective, meaning that they have access to their own local measurements. Universal linear protocols are proposed for each agent to achieve output synchronizations. Proposed protocols are designed solely based on the agent models using no information about communication graph and the number of agents or o…
Adaptive synchronization protocols for heterogeneous multi-agent network are investigated. The interaction between each of the agents is carried out through a directed graph. We highlight the lack of communication between agents and the presence of uncertainties in each system among the conventional problems that can arise in cooperative networks. Two methodologies are presented to deal with the uncertainties: A strategy based on robust optimal control and a strategy based on neural networks. Likewise, an input estimation methodology is designed to face the disconnection that any agent may pre…
In this paper, we introduce a nonlinear time-varying coupling law, which can be designed in a fully decentralized manner and achieves approximate synchronization with arbitrary precision, under only mild assumptions on the individual vector fields and the underlying (undirected) graph structure. The proposed coupling law is motivated by the so-called funnel control method studied in adaptive control under the observation that arbitrary precision synchronization can be achieved for heterogeneous multi-agent systems by a high-gain coupling; consequently we call our novel synchronization method `…
This paper deals with data-driven output synchronization for heterogeneous leader-follower linear multi-agent systems. Given a multi-agent system that consists of one autonomous leader and a number of heterogeneous followers with external disturbances, we provide necessary and sufficient data-based conditions for output synchronization. We also provide a design method for obtaining such output synchronizing protocols directly from data. The results are then extended to the special case that the followers are disturbance-free. Finally, a simulation example is provided to illustrate our results.
This paper proposes a novel method to achieve and preserve synchronization for a set of connected heterogeneous Van der Pol oscillators. Unlike the state-of-the-art synchronization methods, in which a large coupling gain is applied to couple any pair of connected oscillators, the proposed method first casts the whole synchronization process into two phases. The first one considers the period from the beginning to the first instant of synchronization, while the second phase covers the following time in which synchronization must be preserved. It is shown that a large coupling gain is adopted fo…
Synchronization is a crucial phenomenon in many natural and artificial complex network systems. Applications include neuronal networks, formation control and coordination in robotics, and frequency synchronization in electrical power grids. In this paper, we propose the use of a distributed discontinuous coupling protocol to achieve convergence and synchronization in networks of non-identical nonlinear dynamical systems. We show that the synchronous dynamics is a solution to the average of the nodes' vector fields, and derive analytical estimates of the critical coupling gains required to achi…
This paper deals with the H2 suboptimal output synchronization problem for heterogeneous linear multi-agent systems. Given a multi-agent system with possibly distinct agents and an associated H2 cost functional, the aim is to design output feedback based protocols that guarantee the associated cost to be smaller than a given upper bound while the controlled network achieves output synchronization. A design method is provided to compute such protocols. For each agent, the computation of its two local control gains involves two Riccati inequalities, each of dimension equal to the state space dim…
The Hegselmann-Krause (HK) model is a wellknown opinion dynamics, attracting a significant amount of interest from a number of fields. However, the heterogeneous HK model is difficult to analyze - even the most basic property of convergence is still open to prove. For the first time, this paper takes into consideration heterogeneous HK models with environment or communication noise. Under environment noise, it has been revealed that the heterogeneous HK model with or without global information has a phase transition for the upper limit of the maximum opinion difference, and has a critical nois…
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
In this paper, the synchronization of heterogeneous agents interacting over a dynamical network is studied. The edge dynamics can model the inter-agent communications which are often heterogeneous by nature. They can also model the controllers of the agents which may be different for each agent or uniform for all the agents. Novel synchronization conditions are obtained for both cases from a phase perspective by exploiting a recently developed small phase theorem. The conditions scale well with the network and reveal the trade-off between the phases of node dynamics and edge dynamics. We also …
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…
A group behavior of a heterogeneous multi-agent system is studied which obeys an "average of individual vector fields" under strong couplings among the agents. Under stability of the averaged dynamics (not asking stability of individual agents), the behavior of heterogeneous multi-agent system can be estimated by the solution to the averaged dynamics. A following idea is to "design" individual agent's dynamics such that the averaged dynamics performs the desired task. A few applications are discussed including estimation of the number of agents in a network, distributed least-squares or median…
