Optimal Stationary Synchronization of Heterogeneous Linear Multi-Agent Systems

09/26/2017
by   Sebastian Bernhard, et al.
0

Based on an approach with bounded virtual exosystems, the output synchronization of heterogeneous linear networks is addressed. Instead of exact synchronization with zero steady-state error, we introduce optimal stationary synchronization. Then, each agent is able to balance its synchronization error versus its consumed input-energy. In this regard, a local, time-invariant optimal control is obtained by means of recently developed methods for infinite-time linear quadratic tracking. Extending these methods, we present a parametric optimization problem to obtain an optimal control that guarantees given error-bounds on the synchronization error. In addition, we are able to relax standard assumptions and our approach applies even for agents which usually cannot synchronize exactly, e.g. agents with less inputs than outputs. All these aspects are demonstrated by an illustrative simulation example for which a detailed analysis is provided.

READ FULL TEXT

page 1

page 2

page 3

page 4

research
01/01/2021

Design of heterogeneous multi-agent system for distributed computation

A group behavior of a heterogeneous multi-agent system is studied which ...
research
02/05/2018

Variational Principles for Optimal Control of Left-Invariant Multi-Agent Systems with Asymmetric Formation Constraints

We study an optimal control problem for a multi-agent system modeled by ...
research
09/30/2020

Cooperative Path Integral Control for Stochastic Multi-Agent Systems

A distributed stochastic optimal control solution is presented for coope...
research
09/28/2017

Resilient Learning-Based Control for Synchronization of Passive Multi-Agent Systems under Attack

In this paper, we show synchronization for a group of output passive age...
research
05/09/2023

Persistent synchronization of heterogeneous networks with time-dependent linear diffusive coupling

We study synchronization for linearly coupled temporal networks of heter...
research
07/26/2021

Utilizing synchronization to partition power networks into microgrids

The problem of partitioning a power grid into a set of microgrids, or is...
research
12/08/2017

Using Intermittent Synchronization to Compensate for Rhythmic Body Motion During Autonomous Surgical Cutting and Debridement

Anatomical structures are rarely static during a surgical procedure due ...

Please sign up or login with your details

Forgot password? Click here to reset