In this paper we investigate the robust controller design problem for a Multi-Agent System (MAS). The agents are modeled as identical LTI systems and the way in which they exchange information is modeled by a directed graph. The communication structure may be subject to changes and is affected by time-varying delays. Moreover, the communication delays may also affect an agent's own outputs. We extend an approach of synthesizing a controller that stabilizes arbitrarily switching communication topologies by robustifying the controller with respect to unknown and time-varying but bounded communication delays. To improve the performance of the controller, we introduce a prediction scheme using non-causal uncertainty blocks. The results are illustrated by a comparison of a simulated formation flight of quad-rotor helicopters.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Local Controller Synthesis for Multi-Agent Systems Subject to Time-Varying Communication Delays


    Beteiligte:
    Pilz, U. (Autor:in) / Werner, H. (Autor:in)


    Erscheinungsdatum :

    2010


    Format / Umfang :

    6 Seiten, 23 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Decentralized Sliding Control of Cooperative Multi-Agent Systems Subject to Communication Delays

    Sharifi, F. / Gordon, B.W. / Zhang, Y. et al. | British Library Conference Proceedings | 2010


    Decentralized Sliding Control of Cooperative Multi-Agent Systems Subject to Communication Delays

    Sharifi, Farid / Gordon, Brandon W. / Zhang, Youmin | AIAA | 2010



    Weighted Group Consensus Control for Multi-agent Systems with Time-Varying Delays

    Zhang, Yi / Yu, Hao / Yang, Xiuxia et al. | Springer Verlag | 2022


    Distributed consensus of multi‐agent systems with input faults and time‐varying delays

    Fattahi, M. / Afshar, A. | British Library Online Contents | 2018