Synchronization of Multi-Agent Systems Composed of Second-Order Underactuated Agents

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Synchronization of Multi-Agent Systems Composed of Second-Order Underactuated Agents

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Synchronization of Multi-Agent Systems Composed of Second-Order Underactuated Agents

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

—

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2024

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Mathematics

ISSN

2227-7390

e-ISSN

2227-7390

Svazek periodika

12

Číslo periodika v rámci svazku

21 - Spec. Iss. MMAAIMAS 2024

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

19

Strana od-do

3424

Kód UT WoS článku

001351750900001

EID výsledku v databázi Scopus

2-s2.0-85208441589