Peak-to-peak disturbances attenuation in multi-agent formation distributed control

Serban Sabau; Myron Hohil

doi:10.1117/12.2588002

12 April 2021 Peak-to-peak disturbances attenuation in multi-agent formation distributed control

Serban Sabau, Myron Hohil

Proceedings Volume 11746, Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications III; 117462I (2021) https://doi.org/10.1117/12.2588002
Event: SPIE Defense + Commercial Sensing, 2021, Online Only

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Abstract

This paper introduces a novel distributed architecture for the distributed control of autonomous agents, with guarantees for optimal peak-to-peak disturbances attenuation. The resulted scheme is able to perform trajectory control while preserving a pre-specified (distance-based) formation of the autonomous double integrator agents with first order (linear) actuators. The controller designed method is based on a "disturbances as sets" approach while the scheme is completely distributed, by constraining the sensing and communications radius of each agent in the formation. Compensation of inter-agent communications induce time-delays are also discussed.

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Serban Sabau and Myron Hohil "Peak-to-peak disturbances attenuation in multi-agent formation distributed control", Proc. SPIE 11746, Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications III, 117462I (12 April 2021); https://doi.org/10.1117/12.2588002

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KEYWORDS

Signal attenuation

Actuators

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