Coordinated control for networked multi-agent systems

摘要: Coordination in networked multi-agent systems attracts significant interest the realm of engineering. Typical examples include formations unmanned aerial vehicles, automated highway systems, and sensor networks. One common feature for these is that coordinated behaviors are exhibited by interactions among agents where information exchange manipulation necessary. In this work, three relevant issues investigated detail: uniform strategy formation control, fast-converging consensus protocols, packet-based state estimation over communication Formation control involves harmony local controller design, interaction topology analysis, objective agreement agents. We propose a novel so each agent responds to neighbors' as well acts towards global goal. Using tools from signal flow graphs algebraic graph theory, we show new eases design controllers. Robustness against link failure scalable disturbance resistance also discussed based on small-gain theory. Consensus protocols networks used achieve important issue convergence speed. multi-hop relay fast seeking. Without physically changing network, type distributed protocol increases connectivity employing paths network. investigate with delays. Efficiently estimating states other links work. When flows data normally not retransmitted order satisfy real-time requirements. Thus, packet drops random delays inevitable. introduce multiple description source codes manipulate before transmission. modified Riccati equations, improve performance Kalman filters large set packet-dropping scenarios. This problem generalized case observation has an independent identical static distribution finite noise. Moreover, filtering bursty two-state Markov chain model.