Design of heterogeneous multi-agent system for distributed computation

DOI10.1007/978-3-030-74628-5_4MaRDI QIDQ5018399zbMATH OpenOpenAlexFDO

Authors Jin Gyu Lee, Hyungbo Shim

Publication date 16 December 2021

Published in Lecture Notes in Control and Information Sciences (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2101.00161

Mathematics Subject Classification ID

Control/observation systems involving computers (process control, etc.) (93C83) Multi-agent systems (93A16) Networked control (93B70)

Abstract: A group behavior of a heterogeneous multi-agent system is studied which obeys an "average of individual vector fields" under strong couplings among the agents. Under stability of the averaged dynamics (not asking stability of individual agents), the behavior of heterogeneous multi-agent system can be estimated by the solution to the averaged dynamics. A following idea is to "design" individual agent's dynamics such that the averaged dynamics performs the desired task. A few applications are discussed including estimation of the number of agents in a network, distributed least-squares or median solver, distributed optimization, distributed state estimation, and robust synchronization of coupled oscillators. Since stability of the averaged dynamics makes the initial conditions forgotten as time goes on, these algorithms are initialization-free and suitable for plug-and-play operation. At last, nonlinear couplings are also considered, which potentially asserts that enforced synchronization gives rise to an emergent behavior of a heterogeneous multi-agent system.

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Cited in

(6)

• Distributed global consensus of LTI mass with heterogeneous actuator saturation and communication noises
• A tool for analysis and synthesis of heterogeneous multi-agent systems under rank-deficient coupling
• Edge-wise funnel output synchronization of heterogeneous agents with relative degree one
• Synchronization with prescribed transient behavior: heterogeneous multi-agent systems under funnel coupling
• Mixed analog-digital method of designing a heterogeneous network with the desired collective behavior and rapid convergence
• A design method of distributed algorithms via discrete-time blended dynamics theorem

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