Stable motion and distributed topology control for multi-agent systems with directed interactions
Stable motion and distributed topology control for multi-agent systems with directed interactions
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DOI：
10.1109/cdc.2017.8264165
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发表时间：
2017-12
期刊：
影响因子：
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通讯作者：
Pratik Mukherjee;A. Gasparri;Ryan K. Williams
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文献类型：
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作者：
Pratik Mukherjee;A. Gasparri;Ryan K. Williams
在本文中，我们研究了多智能体系统中的稳定协调与定向交互，并将结果应用于分布式拓扑控制。我们的主要贡献是扩展了著名的潜在的控制框架，最初介绍了无向网络的情况下，由有向图建模的网络。不管要实现的特定目标，基于势的无向图控制本质上是稳定的。简而言之，这可以解释由对称性的相互作用引起的图拉普拉斯算子的正半定性。不幸的是，当多智能体系统在成对交互中缺乏对称性时，这种能量有限性保证不再成立。在这种情况下，我们的贡献是双重的：i）我们形式化稳定协调的多智能体系统的有向图，展示了图形结构，诱导稳定的协调目标的广泛的类;和ii）我们设计了一个拓扑控制机制的基础上的分布式特征值估计算法，以执行李雅普诺夫能量有限性的衍生类的稳定图。仿真结果表明，多智能体系统的有向图进行拓扑控制和碰撞避免，证实了理论研究结果。
In this paper, we study stable coordination in multiagent systems with directed interactions, and apply the results for distributed topology control. Our main contribution is to extend the well-known potential-based control framework originally introduced for undirected networks to the case of networks modeled by a directed graph. Regardless of the particular objective to be achieved, potential-based control for undirected graphs is intrinsically stable. Briefly, this can be explained by the positive semidefiniteness of the graph Laplacian induced by the symmetric nature of the interactions. Unfortunately, this energy finiteness guarantee no longer holds when a multi-agent system lacks symmetry in pairwise interactions. In this context, our contribution is twofold: i) we formalize stable coordination of multi-agent systems on directed graphs, demonstrating the graph structures that induce stability for a broad class of coordination objectives; and ii) we design a topology control mechanism based on a distributed eigenvalue estimation algorithm to enforce Lyapunov energy finiteness over the derived class of stable graphs. Simulation results demonstrate a multi-agent system on a directed graph performing topology control and collision avoidance, corroborating the theoretical findings.