Distributed Control of Multiagent Systems under Unknown Persistent Disturbances
Optimization and Control
2013-10-15 v1 Dynamical Systems
Abstract
This paper focuses on the consensus and formation problems of multiagent systems under unknown persistent disturbances. Specifically, we propose a novel method that combines an existing consensus (or formation) algorithm with a new controller. The new controller has an integral action that produces a control input based on an error signal locally projected onto the column space of the graph Laplacian. This action allows agents to achieve a consensus or a predetermined formation objective under constant or time-varying disturbances. This study has analyzed the stability properties of this architecture and provides several illustrative examples to demonstrate the proposed approach.
Cite
@article{arxiv.1310.3489,
title = {Distributed Control of Multiagent Systems under Unknown Persistent Disturbances},
author = {Tansel Yucelen and Magnus Egerstedt},
journal= {arXiv preprint arXiv:1310.3489},
year = {2013}
}
Comments
9 pages and 6 figures