Self-organising disturbance attenuation for synchronised agents with individual dynamics

Abstract

AbstractThis paper proposes a self-organising networked controller for disturbance attenuation in multi-agent systems. A disturbance affecting a single agent has some effect on all neighbouring agents through the communication network. To avoid large disturbance effects, the proposed self-organising controller switches off the communication whenever the effect of the disturbance on the corresponding agent exceeds a given bound. As a consequence, the structure of the networked controller is adjusted to the current disturbance. It is proved that the proposed controller bounds the effect of any disturbance on all undisturbed agents. The results are illustrated by their application to a robot formation problem.Keywords: synchronisationdisturbance attenuationnetworked control systemself-organisation