In this paper, we develop a conservation-based framework for addressing finite time semistability and almost sure consensus problems for nonlinear stochastic multiagent dynamical systems with fixed communication topologies. Specifically, we present a distributed nonlinear controller architecture for multiagent coordination over networks with state-dependent stochastic communication uncertainty. The proposed controller architecture involves the exchange of generalized charge or energy state information between agents guaranteeing that the closed-loop dynamical network is stochastically finite time semistable to an equipartitioned equilibrium representing a state of almost sure consensus consistent with basic thermodynamic principles.
|Title of host publication||2019 IEEE 58th Conference on Decision and Control, CDC 2019|
|Number of pages||6|
|State||Published - Dec 2019|
|Event||58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France|
Duration: Dec 11 2019 → Dec 13 2019
|Name||Proceedings of the IEEE Conference on Decision and Control|
|Conference||58th IEEE Conference on Decision and Control, CDC 2019|
|Period||12/11/19 → 12/13/19|
Bibliographical noteFunding Information:
This work was supported in part by the Air Force Office of Scientific Research under Grant FA9550-16-1-0100.
© 2019 IEEE.
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization