Multiagent systems mas use networked multiple autonomous agents to accomplish complex tasks in areas such as spacebased applications, smart grids, and machine learning. Distributed controller design is generally a challenging task, especially for multiagent systems with complex dynamics, due to the interconnected effect of the agent dynamics, the interaction graph among agents, and the cooperative control laws. Pdf passivitybased coordination of multiagent systems. For firstorder multiagent systems with input and communication delays, tian and liu 2008 derives a consensus condition that only depends on input delays using a frequency domain analysis. This work was supported by a grant from the national 863 program of china 2011aa050204, the national natural science foundation of china 61104149, 674174, the zhejiang province. If z1 0 is asymptotically stable, stable, or unstable, respectively, for this center manifold dynamics then z1,z2 0 is asymptotically stable, stable or unstable for the fullorder system. A systematic, passivity based approach discusses multi agent coordination problems, including formation control, attitude coordination, and synchronization.
The third part presents the unified passivitybased controldesign methodology for multiagent systems. In gu and wang 2009, a leaderfollower ocking model was discussed. Negative weights besides positive weights are introduced for the links existing among the agents. Analysis, control and applications of passivity in complex. A particular problem of controlled synchronization of nonlinear systems is considered. Cooperative output regulation of multiagent systems. Control of multiagent systems with input delay via pde. Author links open overlay panel zhenwei liu a b meirong zhang c ali saberi b anton a.
Pdf passivitybased consensus and passification for a class. Resilient learningbased control for synchronization of passive multiagent systems under attack arash rahnama and panos j. In this paper we study passivity based control for the problem of coordination and synchronization of multi agent systems. A consensus region approach provides a novel approach to designing distributed cooperative protocols for multi agent systems with complex dynamics. Passivity based consensus and passication for a class of stochastic multi agent systems with switching topology. It is also demonstrated that the conditions of feedback passivity allow one to design an.
Finitetime passivity based cooperative control of multi agent systems. We first reformulate the passivitybased control design method in arcak 2007 by considering that each edge is associated with an artificial spring system instead of the usual diffusive coupling among the communicating agents. Passivitybased consensus for linear multiagent systems. A passivitybased powershaping control of building hvac. This paper studies the passivity based consensus analysis and synthesis problems for a class of stochastic multi agent systems with switching topologies. This paper deals with uniform synchronization analysis of multi. This paper studies the passivity based consensus analysis and the consensus synthesis problem called passification for a class of stochastic multi agent systems subject to external disturbances.
Passivitybased control of multiagent systems 3 passivity to set the background and notation for what follows, consider a control a. The aim of the thesis is to investigate logicbasedformalisms for describing, reasoning about, specifying and ultimately verifying the properties of multiagentsystems1. This paper studies the passivitybased consensus analysis and the consensus synthesis problem called passification for a class of stochastic multiagent systems subject to external disturbances. Passivitybased consensus and passication for a class of stochastic multiagent systems with switching topology. This paper studies the leaderfollowing consensus control issue for nonlinear multiagent systems mass under switching and fixed topologies by employing the passivity of every agent. Boissier ensm saintetienne multiagent systems introduction olivier boissier olivier. Passivitybased control of multiagent systems semantic. There is a very real need for formal tools with which to analyze and reason about multi agentsystems. Consensus control of stochastic multiagent systems. This is because one important ingredient, namely, communication, would still be missing. The overall system goal is achieved using local interactions among the agents. Consensus control for multiagent systems with a faulty node. Agentbased systems agent autonomy here is an autonomous device, situated in an environment, and purposeful. The proposed distributed adaptive protocols are designed, respectively, for linear and lipschitz nonlinear multi agent systems, under which consensus is reached in both the linear and the.
Passivitybased leaderfollowing consensus control for nonlinear multiagent systems with fixed and switching topologies abstract. Spong, passivitybased control of multiagent systems, in advances in robot control. It is shown that the consensus errors of all agents will converge to a small set around the origin, if parameters in the consensus protocol are properly chosen. The agents acting as followers update states based on the information received from the time varying neighbours and the virtual leader. Notions of passivity for a class of switched control systems scs are developed. Pdf passivitybased consensus and passification for a. Siam journal on control and optimization siam society for. The underlying communication topology may switch arbitrarily within a finite set of admissible topologies. We first reformulate the passivity based control design method in arcak 2007 by considering that each edge is associated with an artificial spring system instead of the usual diffusive coupling among the communicating agents.
Disc systems and control theory of nonlinear systems, 2010 theorem 6 the dynamics on the center manifold are given as z. Although the model of multi agent system is linear, the closedloop system is nonlinear due to the employment of nonlinear control laws. This paper deals with the consensus problem of linear multiagent systems with actuator faults. A geometric approach to multimodal and multiagent systems. This paper studies the passivitybased consensus analysis and synthesis problems for a class of stochastic multiagent systems with switching topologies. To this end, the passivitybased approach is applied to the control of various types of challenging problems in control systems such as symmetric systems, switched systems, and the automatic cyclerider systems. Recently, passivity is also used in optimization and related application. The proposed consensus region decouples the design of the feedback gain matrices of the cooperative protocols from the communication graph and serves as a. Dissipativitypassivity based control design for symmetric. Passivity based state synchronization of homogeneous discretetime multiagent systems via static protocol in the presence of input delay. Based on lyapunov methods, stochastic theory, and graph theory, new different storage lyapunov functions are proposed to derive sufficient conditions on meansquare exponential consensus and stochastic passivity for multi agent systems under. The book introduces passivity as a design tool for multiagent systems, provides exemplary work using this tool,and illustrates its advantages in designing robust cooperative control algorithms. We treat agents described by affine nonlinear systems that are inputoutput passive and that exchange information over a. Antsaklis, fellow, ieee abstract in this paper, we show synchronization for a group of output passive agents that communicate with each other according to an underlying communication graph to achieve a common goal.
May 15, 2020 passivity based cooperative control of multi agent systems. In 3, a multiagent system is defined as, a multiagent system is a loosely coupled network of problemsolving entities agents that work together to find answers to problems that are beyond the individual capabilities or knowledge of each entity agent. Vehicle formations, graph theoretic methods, aeyels. The third part presents the unified passivity based control design methodology for multi agent systems. To this end, the passivity based approach is applied to the control of various types of challenging problems in control systems such as symmetric systems, switched systems, and the automatic cyclerider systems. In fact, most of the purely graph theoretic approaches model the agents as firstorder integrators, which are the simplest passive systems, i. Isis publications institute for software integrated systems. Koutsoukos, consensus in networked multiagent systems with adversaries, hybrid systems. The agents are assumed to have general, yet identical, linear dynamics.
Applications of passivity theory, for example, in the fields of signal. This paper presents a framework for control of building hvac systems using a methodology based on powershaping paradigm that exploits the passivity property of a system. Nonlinear passivitybased adaptive control of spacecraft formation flying. In 120, a passivity based cooperative control is developed for multi agent systems and the group synchronization is proved with the proposed backstepping controller using the krasovskiilasalle. This dissertation studies the concept of dissipativity and passivity, in theory, in practice, and in design of control systems. Cooperative output regulation of multiagent systems coupled.
We treat agents described by affine nonlinear systems that are inputoutput passive and that exchange information over a network described by an interconnection graph. Koutsoukos, consensus in networked multi agent systems with adversaries, hybrid systems. Emergence in multiagent systems a key ingredient for complex systems, and claimed to lie at the basis of true arti cial intelligence by many. Spong, passivitybased control of multiagent systems, in advance in robot control. Passivitybased control of multiagent systems springerlink.
The simplest example this is a lossless system with storage function since. Passivity based state synchronization of homogeneous. Performing coordinated tasks in multiagent systems using only local information has been. A passivitybased design framework is proposed in to achieve group coordination. The motivation of this chapter is to leverage the idea of distributed learning control that has recently developed in the. Systems and robotics caesar some background the control of multiagent systems is a very active area of research. The equilibrium point x0 is stable if for any neighborhood v of x0 there exists a neighborhood v. Passivitybased cooperative control of multiagent systems. It is also demonstrated that the conditions of feedback passivity allow one to design an adaptive synchronizing control law which ensures global. From everyday physics to humanlike movements, sadao kawamura and mikhail svinin, editors, pp. A systematic, passivitybased approach discusses multiagent coordination problems, including formation control, attitude coordination, and agreement.
Although the model of multiagent system is linear, the closedloop system is nonlinear due to the employment of nonlinear control laws. Citeseerx passivitybased control of multiagent systems. Disturbance decoupling with quadratic stability for switched linear systems. Adaptive control for satellite formation flying under thrust misalignment. Hong, a distributed assignment algorithm with positiondependent benefit function, chinese control conference, xian, china, page 55325537, 20. Fujita laboratory tokyo institute of technology tokyo institute of technology 3 1 n. Mar 12, 2017 cooperative control of multi agent systems. A central task for such multiagent systems is to establish a formation around an area of interest. Passivity based state synchronization of homogeneous discrete. Passivity based distributed tracking control of networked.
Passivitybased leaderfollowing consensus control for. Recently passivity has been used in multiagent robotic systems with switching topology to maintain connectedness and establis h closedloop stability franchi et al. Chapter2developssensor placement algorithms for a team of autonomous. Finitetime passivitybased cooperative control of multiagent systems. A typical example of emergence in arti cial systems is the glider, a moving cyclic pattern occurring in a cellular automata ca called the game of life, devised by the british mathematician j. A passivitybased powershaping control of building hvac systems. Cooperative control design a systematic, passivitybased. On relationships among passivity, positive realness, and.
A fault estimator based consensus protocol is provided, together with a convergence analysis. In 120, a passivitybased cooperative control is developed for multiagent systems and the group synchronization is proved with the proposed backstepping controller using the krasovskiilasalle. Passivitybased control and estimation in networked. Rp is the control input, and a, b, are constant matrices with compatible dimensions. The results developed not only suggest a way to solve real application problems but also suggest how to apply the passivitybased analysis to networked control systems where the subsystems are not passive. We have developed a lyapunovbased method to analyze the performance of. Incremental stability, contraction analysis, passivity angeli, arcak, nijmeijer, pogromsky, polushin, slotine, sepulchre, 2. Resilient learning based control for synchronization of passive multi agent systems under attack arash rahnama and panos j. This scheme is shown to be either immediately applicable or easily extendable to the solution of various motion coordination problems including 3d attitudepose synchronization, flocking control and cooperative motion estimation. Agent based systems agent autonomy here is an autonomous device, situated in an environment, and purposeful. Resilient learningbased control for synchronization of. A multiagent system is composed of multiple autonomous entities, with distributed information, computational ability, and possibly divergent interests. The results developed not only suggest a way to solve real application problems but also suggest how to apply the passivity based analysis to networked control systems where the subsystems are not passive.
Passivity and passivity based controller design of a class of switched control systems weitian chen and mehrdad saif y simon fraser university, vancouver, b. Minimum conditions for producing such synchronization are presented and it is shown that these conditions also provide the feedback passivity of the overall system. Passivity has been extensively studied for analysis and design of both linear and nonlinear systems with broad applications in physical systems 1 and network systems 2, 3. For example, an ngon with a target as its center, at the appropriate radius, may simultaneously provide signi. The passivity framework unifies and extends a number of results in multiagent control. Passivity based control of multi agent systems 3 passivity to set the background and notation for what follows, consider a control a. Fault tolerant consensus of multiagent systems with. The goal of the book is to introduce passivity as a design tool for multi agent systems, to provide exemplary work. Passivitybased output synchronization of networked euler. The system dynamics are expressed in the braytonmoser bm form which exhibits a gradient structure with the mixedpotential function, which has the units of power. This study is concerned with the issue of meansquare consensus for a model of leaderfollowing multiagent system.
In this paper we study passivitybased control for the problem of coordination and synchronization of multiagent systems. Emergence in multiagent systems universiteit utrecht. Disturbance decoupling via dynamic output feedback for switched linear systems. Control of multiagent systems by nonlinear techniques.