Hamideh Saadabadi | Searcharxiv

arXiv2023

A Decomposition Approach to Multi-Agent Systems with Bernoulli Packet Loss

In this paper, we extend the decomposable systems framework to multi-agent systems with Bernoulli distributed packet loss with uniform probability. The proposed sufficient analysis conditions for mean-square stability and $H_2$-performance -- which are expressed in the form of linear matrix inequalities -- scale linearly with increased network size and thus allow to analyse even very large-scale multi-agent systems. A numerical example demonstrates the potential of the approach by application to a first-order consensus problem.

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arXiv2022

Event-Triggered l2-Optimal Formation Control with State-Estimation for Agents Modeled as LPV Systems

This paper proposes a distributed scheme with different estimators for the event-triggered formation control of polytopic homogeneously scheduled linear parameter-varying (LPV) multi-agent systems (MAS). Each agent consists of a time-triggered inner feedback loop and a larger event-triggered outer feedback loop to track a formation reference signal and reject input and output noise. If a local event-trigger condition is violated, the event-triggered outer feedback loop is closed through the communication network. The event-trigger condition is only based on locally available information. To design the controller, a synthesis problem is formulated as a linear matrix inequality of the size of a single agent under the assumption, that local estimators trigger intercommunication events with neighboring agents if the event-trigger condition is violated. The design procedure guarantees stability and bounded l2-performance. Furthermore, the estimators are interchangeable for a given controller. We compare in simulation zero-order hold, open-loop estimation, and closed-loop estimation strategies. Simulation trials are carried out with non-holonomic dynamic unicycles modeled as polytopic LPV systems.

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