COMPLEX LAPLACIAN-BASED DISTRIBUTED CONTROL FOR MULTI-AGENT NETWORK

DOI10.1142/S0219525918500157MaRDI QIDQ6203278zbMATH OpenOpenAlexWikidataFDO

Authors Pushpak Jagtap, Arun D. Mahindrakar, Navdeep Singh

Publication date 27 March 2024

Published in Advances in Complex Systems (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1609.05520

zbMATH Keywords

complex Laplaciandistributed controlmulti-agent systemsnetworked control systems

Mathematics Subject Classification ID

Game theory, economics, finance, and other social and behavioral sciences (91-XX)

Abstract: The work done in 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 formation of a meta-cluster leading other clusters in the network. The proposed formulation enables flexibility to constrain the eigen spectra of the overall closed-loop dynamics, ensuring desired convergence rate and control input intensity. The sufficient conditions ensuring globally stable formation for proposed formulation are also asserted. Robustness of the proposed formulation to uncertainties like loss in communication links and actuator failure has also been discussed. The effectiveness of the proposed approach is illustrated by simulating a finitely large network of thirty vehicles.

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