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 control and estimation in networked. The passivity framework unifies and extends a number of results in multiagent control. This paper deals with the consensus problem of linear multiagent systems with actuator faults. 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. Agent based systems agent autonomy here is an autonomous device, situated in an environment, and purposeful. Consensus of a leaderfollowing multiagent system with. Disturbance decoupling with quadratic stability for switched linear systems. Citeseerx passivitybased control of multiagent systems. 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.
In this paper we study passivity based control for the problem of coordination and synchronization of multi agent systems. The agents are assumed to have general, yet identical, linear dynamics. 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. 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.
Negative weights besides positive weights are introduced for the links existing among the agents. 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. Hong, a distributed assignment algorithm with positiondependent benefit function, chinese control conference, xian, china, page 55325537, 20. Passivitybased leaderfollowing consensus control for. The third part presents the unified passivitybased controldesign methodology for multiagent systems. Fault tolerant consensus of multiagent systems with. Minimum conditions for producing such synchronization are presented and it is shown that these conditions also provide the feedback passivity of the overall system. Dissipativitypassivity based control design for symmetric.
Performing coordinated tasks in multiagent systems using only local information has been. Resilient learningbased control for synchronization of. Emergence in multiagent systems a key ingredient for complex systems, and claimed to lie at the basis of true arti cial intelligence by many. A fault estimator based consensus protocol is provided, together with a convergence analysis. Finitetime passivity based cooperative control of multi agent systems. Mar 12, 2017 cooperative control of multi agent systems. Adaptive control for satellite formation flying under thrust misalignment. It is also demonstrated that the conditions of feedback passivity allow one to design an adaptive synchronizing control law which ensures global. Systems and robotics caesar some background the control of multiagent systems is a very active area of research. A systematic, passivity based approach discusses multi agent coordination problems, including formation control, attitude coordination, and synchronization. The third part presents the unified passivity based control design methodology for multi agent systems.
In this paper we study passivitybased control for the problem of coordination and synchronization of multiagent systems. 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. However, even after we formalize intentions and knowhow in multi agent systems, we would not have completely established the conceptual foun dations necessary for a science of multiagent systems. We have developed a lyapunov based method to analyze the performance of. Passivity based distributed tracking control of networked. Cooperative control design a systematic, passivitybased. We have developed a lyapunovbased method to analyze the performance of.
Although the model of multiagent system is linear, the closedloop system is nonlinear due to the employment of nonlinear control laws. Disturbance decoupling via dynamic output feedback for switched linear systems. Nonlinear passivitybased adaptive control of spacecraft formation flying. Resilient learning based control for synchronization of passive multi agent systems under attack arash rahnama and panos j. Incremental stability, contraction analysis, passivity angeli, arcak, nijmeijer, pogromsky, polushin, slotine, sepulchre, 2. An event based control strategy that seems to be less costly has been employed in zhu and jiang 2015 to control a collective dynamics for which only the. Recently passivity has been used in multiagent robotic systems with switching topology to maintain connectedness and establis h closedloop stability franchi et al. This study is concerned with the issue of meansquare consensus for a model of leaderfollowing multiagent system.
Passivitybased control and estimation in networked robotics. 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. Vehicle formations, graph theoretic methods, aeyels. A central task for such multiagent systems is to establish a formation around an area of interest. We treat agents described by affine nonlinear systems that are inputoutput passive and that exchange information over a. 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. Finitetime passivitybased cooperative control of multiagent systems. Spong, passivitybased control of multiagent systems, in advance in robot control. In fact, most of the purely graph theoretic approaches model the agents as firstorder integrators, which are the simplest passive systems, i. Recently, passivity is also used in optimization and related application. A consensus region approach provides a novel approach to designing distributed cooperative protocols for multi agent systems with complex dynamics.
The goal of the book is to introduce passivity as a design tool for multi agent systems, to provide exemplary work. A consensus region approach offers a systematic framework for designing distributed controllers for. 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 motivation of this chapter is to leverage the idea of distributed learning control that has recently developed in the. Passivity based state synchronization of homogeneous discrete. A systematic, passivitybased approach discusses multiagent coordination problems, including formation control, attitude coordination, and agreement.
On relationships among passivity, positive realness, and. Passivitybased consensus and passication for a class of stochastic multiagent systems with switching topology. Pdf passivitybased coordination of multiagent systems. 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. 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. Fujita laboratory tokyo institute of technology tokyo institute of technology 3 1 n. Analysis, control and applications of passivity in complex. From everyday physics to humanlike movements, sadao kawamura and mikhail svinin, editors, pp. Control of multiagent systems by nonlinear techniques. A passivitybased design framework is proposed in to achieve group coordination. This paper studies the passivitybased consensus analysis and synthesis problems for a class of stochastic multiagent systems with switching topologies. Cooperative output regulation of multiagent 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.
Passivitybased control of multiagent systems springerlink. The agents acting as followers update states based on the information received from the time varying neighbours and the virtual leader. Passivitybased consensus for linear multiagent systems. We treat agents described by affine nonlinear systems that are inputoutput passive and that exchange information over a network described by an interconnection graph. Although the model of multi agent system is linear, the closedloop system is nonlinear due to the employment of nonlinear control laws. Resilient learningbased control for synchronization of passive multiagent systems under attack arash rahnama and panos j.
This dissertation studies the concept of dissipativity and passivity, in theory, in practice, and in design of control systems. Isis publications institute for software integrated systems. Passivity and passivity based controller design of a class of switched control systems weitian chen and mehrdad saif y simon fraser university, vancouver, b. Notions of passivity for a class of switched control systems scs are developed.
Disc systems and control theory of nonlinear systems, 2010 theorem 6 the dynamics on the center manifold are given as z. Control of multiagent systems with input delay via pde. A multiagent system is composed of multiple autonomous entities, with distributed information, computational ability, and possibly divergent interests. 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. In gu and wang 2009, a leaderfollower ocking model was discussed. 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. A passivitybased powershaping control of building hvac systems. 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.
The simplest example this is a lossless system with storage function since. Multiagent systems may be cooperative, such as sensor networks and mobile robots in a warehouse, or competitive, such as in electronic commerce, or in settings of resource or task allocation. Finitetime formation control for linear multiagent systems. Passivity based consensus and passication for a class of stochastic multi agent systems with switching topology. The aim of the thesis is to investigate logicbasedformalisms for describing, reasoning about, specifying and ultimately verifying the properties of multiagentsystems1. 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. Cooperative output regulation of multiagent systems coupled. The equilibrium point x0 is stable if for any neighborhood v of x0 there exists a neighborhood v. Pdf passivitybased consensus and passification for a.
This paper studies the passivity based consensus analysis and synthesis problems for a class of stochastic multi agent systems with switching topologies. Koutsoukos, consensus in networked multiagent systems with adversaries, hybrid systems. May 15, 2020 passivity based cooperative control of multi agent systems. Multiagent systems mas use networked multiple autonomous agents to accomplish complex tasks in areas such as spacebased applications, smart grids, and machine learning. The overall system goal is achieved using local interactions among the agents. 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 multiagent. 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. Author links open overlay panel zhenwei liu a b meirong zhang c ali saberi b anton a. 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. 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. The underlying communication topology may switch arbitrarily within a finite set of admissible topologies. 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.
A particular problem of controlled synchronization of nonlinear systems is considered. Passivitybased control of multiagent systems semantic. Passivitybased leaderfollowing consensus control for nonlinear multiagent systems with fixed and switching topologies abstract. Agentbased systems agent autonomy here is an autonomous device, situated in an environment, and purposeful. Consensus control for multiagent systems with a faulty node. Consensus control of stochastic multiagent systems. Passivity based control of multi agent systems 3 passivity to set the background and notation for what follows, consider a control a. There is a very real need for formal tools with which to analyze and reason about multi agentsystems.
Pdf passivitybased consensus and passification for a class. The proposed consensus region decouples the design of the feedback gain matrices of the cooperative protocols from the communication graph and serves as a. Passivitybased control of multiagent systems 3 passivity to set the background and notation for what follows, consider a control a. Spong, passivitybased control of multiagent systems, in advances in robot control. A geometric approach to multimodal and multiagent systems.
This paper deals with uniform synchronization analysis of multi. Rp is the control input, and a, b, are constant matrices with compatible dimensions. Siam journal on control and optimization siam society for. Passivitybased output synchronization of networked euler. Koutsoukos, consensus in networked multi agent systems with adversaries, hybrid systems. 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.
It is also demonstrated that the conditions of feedback passivity allow one to design an. Boissier ensm saintetienne multiagent systems introduction olivier boissier olivier. A passivitybased powershaping control of building hvac. Chapter2developssensor placement algorithms for a team of autonomous. Passivity based state synchronization of homogeneous. Emergence in multiagent systems universiteit utrecht.
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. Passivity based state synchronization of homogeneous discretetime multiagent systems via static protocol in the presence of input delay. 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. 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. 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. This is because one important ingredient, namely, communication, would still be missing. Passivitybased cooperative control of multiagent systems.