Due to advances in embedded computational resources over the last several years, a considerable research effort has been devoted to the control of networks and control over networks. Network systems involve distributed decision-making for coordination of networks of dynamic agents and address a broad area of applications including cooperative control of unmanned air vehicles, microsatellite clusters, mobile robotics, battle space management, and congestion control in communication networks. In this paper, we develop a conservation-based framework for addressing almost sure consensus problems for nonlinear stochastic multiagent dynamical systems with fixed communication topologies. Specifically, we present a distributed nonlinear controller architectures for multiagent coordination over networks with state-dependent stochastic communication uncertainty. The proposed controller architecture involves the exchange of generalized charge or energy between agents guaranteeing that the closed-loop dynamical network is stochastically semistable to an equipartitioned equilibrium representing a state of almost sure consensus consistent with basic thermodynamic principles.
|Title of host publication||2018 Annual American Control Conference, ACC 2018|
|Number of pages||6|
|State||Published - Aug 9 2018|
|Event||2018 Annual American Control Conference, ACC 2018 - Milwauke, United States|
Duration: Jun 27 2018 → Jun 29 2018
|Name||Proceedings of the American Control Conference|
|Conference||2018 Annual American Control Conference, ACC 2018|
|Period||6/27/18 → 6/29/18|
Bibliographical noteFunding Information:
This work was supported in part by the Air Force Office of Scientific Research under Grant FA9550-16-1-0100.
© 2018 AACC.
ASJC Scopus subject areas
- Electrical and Electronic Engineering