Multiagent Coordination Over Prescribed Time Intervals: System-Theoretic Foundations and Distributed Control
Abstract
This Short-Term Innovative Research Program project focused on establishing the basis of system-theoretic foundations for creating time-sensitive multiagent missions, where completion of the mission is necessary at a-priori assigned, user-defined final finite-time. Specifically, we have exploited time transformation methods to facilitate the systematic development of several distributed control architectures for selected multiagent coordination applications over prescribed time intervals. The key feature of the resulting distributed control architectures is that they have the capability to guarantee algorithm execution over a prescribed time interval [0,T), where T is a user-defined final finite-time (i.e., convergence time), based on the analysis performed over a stretched, infinite-time interval [0,infinity). The developed distributed control algorithms within the duration of this project also guarantee this strict convergence time even in the presence of arbitrary initial conditions, any connected and undirected time-invariant graph topologies, and perturbations affecting each agent dynamics, where these aspects of our research show the strong robustness properties of the established architectures.
Document Details
- Document Type
- Technical Report
- Publication Date
- Sep 25, 2018
- Accession Number
- AD1229358
Entities
People
- Tansel Yucelen
Organizations
- University of South Florida