Hybrid formalism for consensus of a general class of multi-agent systems with biased measurements

The paper presents a hybrid formalism to analyze a decentralized control policy for a network of agents characterized by a class of non-linear heterogeneous dynamics and biased or noisy measurements. Each agent has a continuous-time dynamics and tracks a piecewise constant impulsive reference. The r...

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Published in2019 18th European Control Conference (ECC) pp. 3016 - 3021
Main Authors Borzone, T., Morarcscu, I.-C., Jungers, M., Boc, M., Janneteau, C.
Format Conference Proceeding
LanguageEnglish
Published EUCA 01.06.2019
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DOI10.23919/ECC.2019.8796244

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Summary:The paper presents a hybrid formalism to analyze a decentralized control policy for a network of agents characterized by a class of non-linear heterogeneous dynamics and biased or noisy measurements. Each agent has a continuous-time dynamics and tracks a piecewise constant impulsive reference. The reference jumps depend on the relative distance with respect to some time-varying neighbors. The jumps take place at some updating instants that are decided independently by each agent. Our results provide input-to-state stability guarantees as far as a minimum and maximum dwell-time condition between consecutive updates is satisfied. A numerical example inspired by the formation realization problem for non-holonomic vehicles illustrates the theoretical results.
DOI:10.23919/ECC.2019.8796244