Abstract
Consensus control of multiagent systems arises in various applications such as rendezvous and formation control. The input to these algorithms, e.g., the (relative) positions of neighboring agents need to be measured using various sensors. Recent works aim to reconstruct these positions, i.e., achieve localization using Euclidean distance measurements instead of displacements, for cost efficiency and scalability. However, this approach inherently introduces ambiguities, such as a rotation or a reflection, which can cause stability issues in practice without corrections by some anchors. In this letter, we conduct a thorough analysis of the stability of consensus control in the presence of localization-induced rotational ambiguities, in several scenarios including, e.g., proper and improper rotation, and the homogeneity of rotations. We give stability criteria and stability margin on the rotations, which are numerically verified with two traditional examples of consensus control.
| Original language | English |
|---|---|
| Pages (from-to) | 3273-3278 |
| Number of pages | 6 |
| Journal | IEEE Control Systems Letters |
| Volume | 8 |
| DOIs | |
| Publication status | Published - 2024 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.
Keywords
- Cooperative control
- distributed control
- networked control systems