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Coordination of multi-agent systems via energy–shaping: networking improves robustness

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10.3182/20120829-3-IT-4022.00028
 
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hdl:2117/18133

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Nuño Ortega, Emmanuel
Ortega, Romeo
Jayawardhana, Bayu
Basañez Villaluenga, LuisMés informacióMés informació
Document typeConference lecture
Defense date2012
Rights accessRestricted access - publisher's policy
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder
Abstract
In this paper the problem of robust coordination of multi–agent systems via energy–shaping is studied. The agents are nonidentical, Euler–Lagrange systems with uncertain parameters. The control objective is to drive all agents states to the same constant equilibrium— which is achieved shaping their potential energy function. It is assumed that, if the parameters are known, this task can be accomplished with a decentralized strategy. In the face of parameter uncertainty, the assigned equilibrium is shifted away from its desired value. It is shown that adding information exchange between the agents to this decentralized control policy improves the performance. More precisely, it is proven that if the communication graph is undirected and connected, the equilibrium of the networked controller is always closer (in a suitable metric) to the desired one. If the the potential energy functions are quadratic, the result holds for all interconnection gains, else, it is true for sufficiently large gains. The decentralized controller is the well–known energy–shaping proportional plus derivative controller, extensively used in applications. An additional advantage of networking is that the control objective is achieved injecting lower gains into the loop.
CitationNuño, E. [et al.]. Coordination of multi-agent systems via energy–shaping: networking improves robustness. A: IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control. "4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control: Bertinoro, Italy 29-31 August 2012". Bertinoro: 2012, p. 155-160. 
URIhttp://hdl.handle.net/2117/18133
DOI10.3182/20120829-3-IT-4022.00028
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  • Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial - Ponències/Comunicacions de congressos [1.391]
  • SIR - Service and Industrial Robotics - Ponències/Comunicacions de congressos [116]
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