Adaptive consensus algorithms for real‐time operation of multi‐agent systems affected by switching network events

Summary We propose a control strategy based on distributed adaptive leader‐follower consensus algorithms for multi‐agent systems (MAS) affected by switching network events. The strategy allows each agent in the MAS to compute its own control input based on local information and information coming fr...

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Bibliographic Details
Published in:International journal of robust and nonlinear control 2017-06, Vol.27 (9), p.1566-1588
Main Authors: Muñoz, Filiberto, Espinoza Quesada, Eduardo Steed, La, Hung M., Salazar, Sergio, Commuri, Sesh, Garcia Carrillo, Luis Rodolfo
Format: Article
Language:English
Subjects:
Adaptive algorithms
adaptive consensus
Adaptive control
Algorithms
asset detection and tracking
Multiagent systems
multi‐agent system
Network topologies
Real time operation
Rotary wing aircraft
Stability analysis
Switching
switching network topology
Tracking errors
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Summary:Summary We propose a control strategy based on distributed adaptive leader‐follower consensus algorithms for multi‐agent systems (MAS) affected by switching network events. The strategy allows each agent in the MAS to compute its own control input based on local information and information coming from its neighbors. In this sense, MAS distributed control laws are obtained where the coupling gain of the associated communication graph is adapted dynamically in real‐time. The consensus algorithm is extended with a switching network topology approach, which ensures appropriate performance even when the MAS network topology is prone to arbitrary switching. A real‐time experimental application is presented, where a MAS consisting of four rotorcraft UAS successfully performed the tasks of autonomously approaching and escorting a leader, even in the situation when the network topology was arbitrarily changing. Additionally, a Lyapunov stability analysis is included, which demonstrates that the tracking errors between leader and follower agents converge asymptotically to zero. Copyright © 2016 John Wiley & Sons, Ltd.
ISSN:1049-8923
1099-1239
DOI:10.1002/rnc.3687