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Cooperative Control of Multiple Agents with Unknown High-frequency Gain Signs under Unbalanced and Switching Topologies
- Publication Year :
- 2018
-
Abstract
- Existing results on cooperative control of multi-agent 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 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 non-identical 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.<br />Comment: 7 pages, 7 figures, submitted
- Subjects :
- Computer Science - Systems and Control
Mathematics - Optimization and Control
Subjects
Details
- Database :
- arXiv
- Publication Type :
- Report
- Accession number :
- edsarx.1805.02932
- Document Type :
- Working Paper