A Decentralized Controller-Observer Scheme for Multi-Agent Weighted Centroid Tracking

In this technical note a decentralized controller-observer scheme for a multi-agent system is presented. The key idea is to develop, for each agent, an observer of the collective system's state and a motion controller. The observer is updated using only information from the agent itself and fro...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2013-05, Vol.58 (5), p.1310-1316
Main Authors: Antonelli, Gianluca, Arrichiello, Filippo, Caccavale, Fabrizio, Marino, Alessandro
Format: Article
Language:English
Subjects:
Consensus algorithms
cooperative control
distributed control
Estimation error
Laplace equations
multi-agent systems
Network topology
networked control systems
Observers
Switches
Topology
Vectors
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Summary:In this technical note a decentralized controller-observer scheme for a multi-agent system is presented. The key idea is to develop, for each agent, an observer of the collective system's state and a motion controller. The observer is updated using only information from the agent itself and from its neighbors; the motion controller is designed in order to allow the team's weighted centroid to track an assigned time-varying reference. Convergence of the overall scheme is proven for directed and undirected communication graphs; moreover the extensions to the case of switching communication topologies and to the presence of saturation in the control input are discussed. Finally, numerical simulations are illustrated to validate the approach.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2012.2220032