Coordination of multi-agent systems via energy-shaping: Networking improves robustness

Emmanuel Nuno, Romeo Ortega, Bayu Jayawardhana, Luis Basanez

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

2 Citations (Scopus)

Abstract

In this paper the problem of robust coordination of multi–agent systems via energy–shaping is studied. The agents are nonidentical, Euler–Lagrange systems with uncertain parameters. The control objective is to drive all agents states to the same constant equilibrium— which is achieved shaping their potential energy function. It is assumed that, if the parameters are known, this task can be accomplished with a decentralized strategy. In the face of parameter uncertainty, the assigned equilibrium is shifted away from its desired value. It is shown that adding information exchange between the agents to this decentralized control policy improves the performance. More precisely, it is proven that if the communication graph is undirected and connected, the equilibrium of the networked controller is always closer (in a suitable metric) to the desired one. If the the potential energy functions are quadratic, the result holds for all interconnection gains, else, it is true for sufficiently large gains. The decentralized controller is the well–known energy–shaping proportional plus derivative controller, extensively used in applications. An additional advantage of networking is that the control objective is achieved injecting lower gains into the loop.
Original languageEnglish
Title of host publication4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control
Place of PublicationBologna
Number of pages6
Publication statusPublished - Aug-2012
Event4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control - University of Bologna, Bertinoro, Italy
Duration: 29-Aug-201231-Aug-2012

Conference

Conference4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control
CountryItaly
CityBertinoro
Period29/08/201231/08/2012

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