A travelling wave approach to a multi-agent system with a path-graph topology

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• 作者：Dan Martinec ^{dan.martinec@fel.cvut.cz} ; Ivo Herman ; ^{ivo.herman@fel.cvut.cz} ; Michael &Scaron ; ebek ^{sebekm1@fel.cvut.cz}
• 关键词：Multi-agent system ; Travelling waves ; Wave transfer function ; Path graph ; Irrational transfer function
• 刊名：Systems & Control Letters
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：99
• 期：Complete
• 页码：90-98
• 全文大小：1579 K
• 卷排序：99

文摘

The paper presents a novel approach for the analysis and control of a multi-agent system with non-identical agents and a path-graph topology. With the help of irrational wave transfer functions, the approach describes the interaction among the agents from the ‘local’ perspective and identifies travelling waves in the system. It is shown that different dynamics of the agents create a virtual boundary that causes a partial reflection of the travelling waves. Undesired effects due to the reflection of the waves, such as amplification/attenuation, long transients or string instability, can be compensated by the feedback controllers introduced in this paper. We show that the controllers achieve asymptotic and even string stability of the system.