Geodesic
Output average consensus over heterogeneous multi-agent systems via two-level approach
Kybernetika, Tome 53 (2017) no. 2, pp. 282-295

Voir la notice de l'article provenant de la source Czech Digital Mathematics Library

In this paper, a novel two-level framework was proposed and applied to solve the output average consensus problem over heterogeneous multi-agent systems. This approach is mainly based on the recent technique of system abstraction. For given multi-agent systems, we first constructed their abstractions as the upper level and solved their average consensus problem by leveraging well-known results for single integrators. Then the control protocols for physical agents in the lower level were synthesized in a hierarchical way by embedding the designed law for abstractions into an interface between two levels. In this way, the complexity coming from heterogeneous dynamics of agents is totally decoupled from that of the coordination task and the communication topologies. An example was given to show its effectiveness.
DOI : 10.14736/kyb-2017-2-0282
Classification : 93A13, 93B11
Keywords: average consensus; system abstraction; two-level control; heterogeneous multi-agent system 
@article{10_14736_kyb_2017_2_0282,
     author = {Tang, Yutao},
     title = {Output average consensus over heterogeneous multi-agent systems via two-level approach},
     journal = {Kybernetika},
     pages = {282--295},
     publisher = {mathdoc},
     volume = {53},
     number = {2},
     year = {2017},
     doi = {10.14736/kyb-2017-2-0282},
     mrnumber = {3661353},
     zbl = {06770169},
     language = {en},
     url = {http://geodesic.mathdoc.fr/articles/10.14736/kyb-2017-2-0282/}
}
TY  - JOUR
AU  - Tang, Yutao
TI  - Output average consensus over heterogeneous multi-agent systems via two-level approach
JO  - Kybernetika
PY  - 2017
SP  - 282
EP  - 295
VL  - 53
IS  - 2
PB  - mathdoc
UR  - http://geodesic.mathdoc.fr/articles/10.14736/kyb-2017-2-0282/
DO  - 10.14736/kyb-2017-2-0282
LA  - en
ID  - 10_14736_kyb_2017_2_0282
ER  - 
%0 Journal Article
%A Tang, Yutao
%T Output average consensus over heterogeneous multi-agent systems via two-level approach
%J Kybernetika
%D 2017
%P 282-295
%V 53
%N 2
%I mathdoc
%U http://geodesic.mathdoc.fr/articles/10.14736/kyb-2017-2-0282/
%R 10.14736/kyb-2017-2-0282
%G en
%F 10_14736_kyb_2017_2_0282
Tang, Yutao. Output average consensus over heterogeneous multi-agent systems via two-level approach. Kybernetika, Tome 53 (2017) no. 2, pp. 282-295. doi: 10.14736/kyb-2017-2-0282

Cité par Sources :