Topology preservation for multi-agent networks: design and implementation

Irinel-Constantin Morarescu (1) , Mirko Fiacchini (2, 3)

1 CRAN - Centre de Recherche en Automatique de Nancy
2 UGA [2016-2019] - Université Grenoble Alpes [2016-2019]
3 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité

We consider a network of interconnected systems with discrete-time dynamics. Each system is called agent and we assume that two agents can interact as far as their states are close in a sense defined by an algebraic relation. In this work, we present several implementation strategies answering to different classical problems in multiagent systems . The primary goal of our methodology is to characterize the controllers that preserve a given interconnection subgraph that makes possible the global coordination. The second goal is to choose among these controllers those that ensure an agreement. This is done by solving a convex optimization problem associated to the minimization of a well-chosen cost function. Examples concerning full or partial consensus of agents with double-integrator dynamics illustrate the implementation of the proposed methodology

Domaines: Automatique / Robotique

Irinel-Constantin Morarescu, Mirko Fiacchini. Topology preservation for multi-agent networks: design and implementation. Alexandre Seuret and Laurentiu Hetel and Jamal Daafouz and Karl H. Johansson. Delays and Networked Control Systems, 6, Springer International Publishing, pp.253-269, 2016, Advances in Delays and Dynamics, 978-3-319-32371-8. ⟨10.1007/978-3-319-32372-5_15⟩. ⟨hal-01333732⟩