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Cooperative Control of Multiple Agents With Unknown High-Frequency Gain Signs Under Unbalanced and Switching Topologies.
- Source :
-
IEEE Transactions on Automatic Control . Jun2019, Vol. 64 Issue 6, p2495-2501. 7p. - Publication Year :
- 2019
-
Abstract
- Existing results on cooperative control of multiagent systems with unknown control directions require that the underlying topology is either fixed with a strongly connected graph or switching between different strongly connected graphs. Furthermore, in most cases the graph is assumed to be balanced. This paper proposes a new class of nonlinear proportional-integral (PI) based algorithms to relax these requirements and allow for unbalanced and switching topologies having a jointly strongly connected basis. This is made possible for single-integrator (SI) and double-integrator (DI) agents with nonidentical unknown control directions by a suitable selection of the distributed nonlinear PI functions. Moreover, as a special case, the proposed algorithms are applied to strongly connected and fixed graphs. Finally, simulation examples are given to show the validity of our theoretical results. [ABSTRACT FROM AUTHOR]
- Subjects :
- *MULTIAGENT systems
*TOPOLOGY
*NONLINEAR systems
*GRAPH theory
*ALGORITHMS
Subjects
Details
- Language :
- English
- ISSN :
- 00189286
- Volume :
- 64
- Issue :
- 6
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Automatic Control
- Publication Type :
- Periodical
- Accession number :
- 136734343
- Full Text :
- https://doi.org/10.1109/TAC.2018.2867161