Synchronization of Multi-Agent Systems Composed of Second-Order Underactuated Agents
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F24%3A00600118" target="_blank" >RIV/67985556:_____/24:00600118 - isvavai.cz</a>
Result on the web
<a href="https://www.mdpi.com/2227-7390/12/21/3424" target="_blank" >https://www.mdpi.com/2227-7390/12/21/3424</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.3390/math12213424" target="_blank" >10.3390/math12213424</a>
Alternative languages
Result language
angličtina
Original language name
Synchronization of Multi-Agent Systems Composed of Second-Order Underactuated Agents
Original language description
The consensus problem of a multi-agent system with nonlinear second-order underactuated agents is addressed. The essence of the approach can be outlined as follows: the output is redesigned first so that the agents attain the minimum-phase property. The second step is to apply the exact feedback linearization to the agents. This transformation divides their dynamics into a linear observable part and a non-observable part. It is shown that consensus of the linearizable parts of the agents implies consensus of the entire multi-agent system. To achieve the consensus of the original system, the inverse transformation of the exact feedback linearization is applied. However, its application causes changes in the dynamics of the multi-agent system. a way to mitigate this effect is proposed. Two examples are presented to illustrate the efficiency of the proposed synchronization algorithm. These examples demonstrate that the synchronization error decreases faster when the proposed method is applied. This holds not only for the states constituting the linearizable dynamics but also for the hidden internal dynamics.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20205 - Automation and control systems
Result continuities
Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Mathematics
ISSN
2227-7390
e-ISSN
2227-7390
Volume of the periodical
12
Issue of the periodical within the volume
21 - Spec. Iss. MMAAIMAS 2024
Country of publishing house
CH - SWITZERLAND
Number of pages
19
Pages from-to
3424
UT code for WoS article
001351750900001
EID of the result in the Scopus database
2-s2.0-85208441589