Formation Control of Multiagent Systems With Communication Noise: A Convex Analysis Approach. Academic Article

abstract

• Under practical environments, some certain noises may arise from the communication of agents due to electromagnetic interference, sensor error, and other disturbances, which are usually modeled by additive noise in the relative position state between an agent and its neighbors. In this article, a formation control strategy is considered for this kind of relative position state with the additive noise, where the unmeasured velocity information is estimated by an observer-based strategy. On the other hand, the considered problem is transformed into a convergence problem of infinite products of a sequence of general stochastic matrices. The general stochastic matrix means that a matrix has row sum one but its entries do not necessarily require non-negative. This article develops the convex analysis to cope with such infinite products. Then, a sufficient condition is obtained to ensure that the specified formation shape in a noisy environment can be achieved. Subsequently, an example is presented to show the effectiveness of the result.

authors

• Huang, Tingwen

published proceedings

• IEEE Trans Cybern

author list (cited authors)

• Li, Z., Huang, T., Tang, Y., & Zhang, W.

citation count

• 11

complete list of authors

• Li, Zhen||Huang, Tingwen||Tang, Yang||Zhang, Wenbing

publication date

• April 2021

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE Transactions on Cybernetics  Journal

keywords

• Additive Noise
• Control Systems
• Convex Analysis
• Formation Control
• Multi-agent Systems
• Multiagent Systems
• Noise Measurement
• Observers
• Stochastic Processes
• Velocity Measurement

Digital Object Identifier (DOI)

• 10.1109/TCYB.2019.2936347

start page

• 2253

end page

• 2264

volume

• 51

issue

• 4

URL

• http://dx.doi.org/10.1109/tcyb.2019.2936347