Output average consensus over heterogeneous multi-agent systems via two-level approach

Yutao Tang

Kybernetika (2017)

  • Volume: 53, Issue: 2, page 282-295
  • ISSN: 0023-5954

Abstract

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In this paper, a novel two-level framework was proposed and applied to solve the output average consensus problem over heterogeneous multi-agent systems. This approach is mainly based on the recent technique of system abstraction. For given multi-agent systems, we first constructed their abstractions as the upper level and solved their average consensus problem by leveraging well-known results for single integrators. Then the control protocols for physical agents in the lower level were synthesized in a hierarchical way by embedding the designed law for abstractions into an interface between two levels. In this way, the complexity coming from heterogeneous dynamics of agents is totally decoupled from that of the coordination task and the communication topologies. An example was given to show its effectiveness.

How to cite

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Tang, Yutao. "Output average consensus over heterogeneous multi-agent systems via two-level approach." Kybernetika 53.2 (2017): 282-295. <http://eudml.org/doc/288194>.

@article{Tang2017,
abstract = {In this paper, a novel two-level framework was proposed and applied to solve the output average consensus problem over heterogeneous multi-agent systems. This approach is mainly based on the recent technique of system abstraction. For given multi-agent systems, we first constructed their abstractions as the upper level and solved their average consensus problem by leveraging well-known results for single integrators. Then the control protocols for physical agents in the lower level were synthesized in a hierarchical way by embedding the designed law for abstractions into an interface between two levels. In this way, the complexity coming from heterogeneous dynamics of agents is totally decoupled from that of the coordination task and the communication topologies. An example was given to show its effectiveness.},
author = {Tang, Yutao},
journal = {Kybernetika},
keywords = {average consensus; system abstraction; two-level control; heterogeneous multi-agent system},
language = {eng},
number = {2},
pages = {282-295},
publisher = {Institute of Information Theory and Automation AS CR},
title = {Output average consensus over heterogeneous multi-agent systems via two-level approach},
url = {http://eudml.org/doc/288194},
volume = {53},
year = {2017},
}

TY - JOUR
AU - Tang, Yutao
TI - Output average consensus over heterogeneous multi-agent systems via two-level approach
JO - Kybernetika
PY - 2017
PB - Institute of Information Theory and Automation AS CR
VL - 53
IS - 2
SP - 282
EP - 295
AB - In this paper, a novel two-level framework was proposed and applied to solve the output average consensus problem over heterogeneous multi-agent systems. This approach is mainly based on the recent technique of system abstraction. For given multi-agent systems, we first constructed their abstractions as the upper level and solved their average consensus problem by leveraging well-known results for single integrators. Then the control protocols for physical agents in the lower level were synthesized in a hierarchical way by embedding the designed law for abstractions into an interface between two levels. In this way, the complexity coming from heterogeneous dynamics of agents is totally decoupled from that of the coordination task and the communication topologies. An example was given to show its effectiveness.
LA - eng
KW - average consensus; system abstraction; two-level control; heterogeneous multi-agent system
UR - http://eudml.org/doc/288194
ER -

References

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