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Robustness and invariance of connectivity maintenance control for multiagent systems
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0003-0287-9197
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-7309-8086
2017 (English)In: SIAM Journal of Control and Optimization, ISSN 0363-0129, E-ISSN 1095-7138, Vol. 55, no 3, p. 1887-1914Article in journal (Refereed) Published
Abstract [en]

This paper is focused on a cooperative control design Which guarantees robust connectivity and invariance of a multiagent network inside a bounded domain, under the presence of additional bounded input terms in each agent's dynamics. In particular, under the assumptions that the domain is convex and has a smooth boundary, we can design a repulsion vector field near its boundary, Which ensures invariance of the agents' trajectories and does not affect the robustness properties of the control part that is exploited for connectivity maintenance.

Place, publisher, year, edition, pages
Society for Industrial and Applied Mathematics, 2017. Vol. 55, no 3, p. 1887-1914
Keywords [en]
multiagent systems, connectivity, robust control, tubular neighborhood
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-211358DOI: 10.1137/16M1077064ISI: 000404771700020Scopus ID: 2-s2.0-85021736417OAI: oai:DiVA.org:kth-211358DiVA, id: diva2:1128892
Funder
Swedish Research CouncilEU, European Research Council
Note

QC 20170731

Available from: 2017-07-31 Created: 2017-07-31 Last updated: 2017-08-07Bibliographically approved

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