arXiv subjects

Anton A. Stoorvogel

Publications and source records attributed to Anton A. Stoorvogel.

25 records · Page 2Linked to original sources

arXiv2020

Scale-free Protocol Design for Output Synchronization of Heterogeneous Multi-agent subject to Unknown, Non-uniform and Arbitrarily Large Input Delays

This paper studies output synchronization problems for heterogeneous networks of continuous- or discrete-time right-invertible linear agents in presence of unknown, non-uniform and arbitrarily large input delay based on localized information exchange. It is assumed that all the agents are introspective, meaning that they have access to their own local measurements. Universal linear protocols are proposed for each agent to achieve output synchronizations. Proposed protocols are designed solely based on the agent models using no information about communication graph and the number of agents or other agent models information. Moreover, the protocols can tolerate arbitrarily large input delays.

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arXiv2020

Scale-free Linear Observer-based Protocol Design for Global Regulated State Synchronization of Homogeneous Multi-agent Systems with Non-introspective Agents Subject to Input Saturation

This paper studies global regulated state synchronization of homogeneous networks of non-introspective agents in presence of input saturation. We identify three classes of agent models which are neutrally stable, double-integrator, and mixed of double-integrator, single-integrator and neutrally stable dynamics. A \textit{scale-free linear observer-based} protocol design methodology is developed based on localized information exchange among neighbors where the reference trajectory is given by a so-called exosystem which is assumed to be globally reachable. Our protocols do not need any knowledge about the communication network topology and the spectrum of associated Laplacian matrix. Moreover, the proposed protocol is scalable and is designed based on only knowledge of agent models and achieves synchronization for any communication graph with arbitrary number of agents.

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arXiv2020

Scale-free Collaborative Protocol Design for Synchronization of Homogeneous and Heterogeneous Discrete-time Multi-agent Systems

This paper studies synchronization of homogeneous and heterogeneous discrete-time multi-agent systems. A class of linear dynamic protocol design methodology is developed based on localized information exchange with neighbors which does not need any knowledge of the directed network topology and the spectrum of the associated Laplacian matrix. The main contribution of this paper is that the proposed protocols are scale-free and achieve synchronization for arbitrary number of agents.

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arXiv2020

Regulated State Synchronization for Discrete-Time Homogeneous Networks of Non-Introspective Agents in Presence of Unknown Non-Uniform Input Delays: A Scale-Free Protocol Design (with a general MATLAB implementation)

This paper studies regulated state synchronization of discrete-time homogeneous networks of non-introspective agents in presence of unknown non-uniform input delays. A scale free protocol is designed based on additional information exchange, which does not need any knowledge of the directed network topology and the spectrum of the associated Laplacian matrix. The proposed protocol is scalable and achieves state synchronization for any arbitrary number of agents. Meanwhile, an upper bound for the input delay tolerance is obtained, which explicitly depends on the agent dynamics.

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arXiv2020

Regulated State Synchronization for Homogeneous Networks of Non-introspective Agents in Presence of Input Delays: A Scale-Free Protocol Design (with a general MATLAB implementation)

This paper studies regulated state synchronization of homogeneous networks of non-introspective agents in presence of unknown nonuniform input delays. A scale-free protocol is designed based on additional information exchange, which does not need any knowledge of the directed network topology and the spectrum of the associated Laplacian matrix. The proposed protocol is scalable and achieves state synchronization for any arbitrary number of agents. Meanwhile, an upper bound for the input delay tolerance is obtained, which explicitly depends on the agent dynamics.

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arXiv2019

State Synchronization for Homogeneous Networks of Non-introspective Agents in Presence of Input Saturation -A Scale-free Protocol Design

This paper studies global and semi-global regulated state synchronization of homogeneous networks of non-introspective agents in presence of input saturation based on additional information exchange where the reference trajectory is given by a so-called exosystem which is assumed to be globally reachable. Our protocol design methodology does not need any knowledge of the directed network topology and the spectrum of the associated Laplacian matrix. Moreover, the proposed protocol is scalable and achieves synchronization for any arbitrary number of agents.

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arXiv2019

Delayed state synchronization of continuous-time multi-agent systems in the presence of unknown communication delays (including complete proofs)

This paper studies delayed synchronization of continuous-time multi-agent systems (MAS) in the presence of unknown nonuniform communication delays. A delay-free transformation is developed based on a communication network which is a directed spanning tree, which can transform the original MAS to a new one without delays. By using this transformation, we design a static protocol for full-state coupling and a dynamic protocol for delayed state synchronization for homogeneous MAS via full- and partial-state coupling. Meanwhile, the delayed output synchronization is also studied for heterogeneous MAS, which is achieved by using a low-gain and output regulation based dynamic protocol design via the delay-free transformation.

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