Preserving stability under communication delays in multi agent systems

Hossein Rastgoftar, Suhada Jayasuriya

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations

Abstract

The effect of time delays on the stability of a recently proposed continuum approach for controlling a multi agent system (MAS) evolving in n-D under a special local inter-agent communication protocol is considered. There a homogenous map determined by n+1 leaders is learned by the follower agents each communicating with n+1 adjacent agents. In this work both position and velocity information of adjacent agents are used for local control of follower agents whereas in previous work [1, 2] only position information of adjacent agents was used. Stability of the proposed method under a time delay h is studied using the cluster treatment of characteristic roots (CTCR) [3]. It is shown that the stability of MAS evolution can be preserved when (i) the velocity of any follower agent is updated using both position and velocity of its adjacent agents at time (t-h); and (ii) the communication matrix has real eigenvalues. In addition, it is shown that when there is no communication delay, deviations from a selected homogenous map during transients may be minimized by updating only the position of a follower using both position and velocity of its adjacent agents.

Original languageEnglish (US)
Title of host publicationControl, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems;
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Print)9780791856130
DOIs
StatePublished - 2013
Externally publishedYes
EventASME 2013 Dynamic Systems and Control Conference, DSCC 2013 - Palo Alto, CA, United States
Duration: Oct 21 2013Oct 23 2013

Publication series

NameASME 2013 Dynamic Systems and Control Conference, DSCC 2013
Volume2

Other

OtherASME 2013 Dynamic Systems and Control Conference, DSCC 2013
Country/TerritoryUnited States
CityPalo Alto, CA
Period10/21/1310/23/13

ASJC Scopus subject areas

  • Control and Systems Engineering

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