COMPLEX LAPLACIAN-BASED DISTRIBUTED CONTROL FOR MULTI-AGENT NETWORK

Aniket Deshpande (), Pushpak Jagtap (), Prashant Bansode, Arun Mahindrakar () and Navdeep Singh ()
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Aniket Deshpande: Department of Electrical Engineering, Veermata Jijabai Technological Institute, Mumbai 400019, Maharashtra, India
Pushpak Jagtap: Hybrid Control Systems Group, Department of Electrical and Computer Engineering, Technische Universität München (TUM), Arcisstr. 21, 80333 München, Germany
Prashant Bansode: Department of Instrumentation Engineering, Ramrao Adik Institute of Technology, Mumbai, India
Arun Mahindrakar: Department of Electrical Engineering, IIT Madras, Chennai 600036, India
Navdeep Singh: Department of Electrical Engineering, Veermata Jijabai Technological Institute, Mumbai 400019, India

Advances in Complex Systems (ACS), 2018, vol. 21, issue 05, 1-15

Abstract: This paper, proposes a complex Laplacian-based distributed control scheme for convergence in the multi-agent network. The proposed scheme has been designated as cascade formulation. The proposed technique exploits the traditional method of organizing large scattered networks into smaller interconnected clusters to optimize information flow within the network. The complex Laplacian-based approach results in a hierarchical structure, with the formation of a meta-cluster leading other clusters in the network. The proposed formulation enables flexibility to constrain the eigenspectra of the overall closed-loop dynamics, ensuring desired convergence rate and control input intensity. The sufficient conditions ensuring globally stable formation for the proposed formulation are also asserted. Robustness of the proposed formulation to uncertainties like loss in communication links and actuator failure have also been discussed. The effectiveness of the proposed approach is illustrated by simulating a finitely large network of 30 vehicles.

Keywords: Complex Laplacian; distributed control; multi-agent systems; networked control systems (search for similar items in EconPapers)
Date: 2018
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DOI: 10.1142/S0219525918500157

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