Abstract
We develop a graph theoretic framework to unify the design and implementation of all centralized, cooperative, and decentralized stabilization protocols in a distributed fashion. As an outcome, this framework enables us to capture the architectural aspect of cyber-physical systems with separate agent and control layers. In particular, we consider an agent layer with fully heterogeneous interconnected MAS subject to nonmeasurable, nonvanishing, external perturbations. We propose a unified design procedure which is applicable to any combination of matched and unmatched modeling uncertainties, establish theoretical guarantees for robust input-to-state stability of the resulting two-layer interconnected multiagent system, and verify the feasibility of these ideas in simulation.
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