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arXiv · 1310.3489

Distributed Control of Multiagent Systems under Unknown Persistent Disturbances

Tansel Yucelen·Magnus Egerstedt
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Abstract

This paper focuses on the consensus and formation problems of multiagent systems under unknown persistent disturbances. Specifically, we propose a novel method that combines an existing consensus (or formation) algorithm with a new controller. The new controller has an integral action that produces a control input based on an error signal locally projected onto the column space of the graph Laplacian. This action allows agents to achieve a consensus or a predetermined formation objective under constant or time-varying disturbances. This study has analyzed the stability properties of this architecture and provides several illustrative examples to demonstrate the proposed approach.

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Tansel Yucelen, Magnus Egerstedt. 2013-10-13. Distributed Control of Multiagent Systems under Unknown Persistent Disturbances. https://arxiv.org/abs/1310.3489

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