Abstract
In this study, a consensus protocol for non-linear multi-agent systems using the non-linear dynamic inversion (NDI) technique is presented. It is named as distributed NDI or DNDI. The agents are considered to be working in a randomly changing environment which is realistic. The randomness in the operating environment is introduced by random switching communication topology, delays, and noise. The consensus protocol is obtained as a closed-form expression, which is a critical requirement for real-time implementation. Also, various cases regarding the communication issues have been considered to study the performance of the DNDI controller. The simulation results are found to be satisfactory.
Highlights
BackgroundThe consensus of multi-agent systems (MASs) is a wellstudied research topic
The simulation study is performed to evaluate the performance of the non-linear dynamic inversion (NDI)-based controller in achieving consensus in the presence of different issues related to communication discussed before
The proposed distributed non-linear dynamic inversion controller (DNDI) is designed with a robust non-linear control theory dynamic inversion
Summary
BackgroundThe consensus of multi-agent systems (MASs) is a wellstudied research topic. Multi-agent systems are used to execute critical and complex tasks which involve life risk, or urgent attention is required. Examples of these tasks include search and rescue, surveillance, delivery, firefight, and other civil or military operations. Such complex tasks would be completed more effectively or performed cooperatively, but for this, each agent must share information with its neighbour and compute the control action . A common goal can be achieved if cooperation among agents is possible or otherwise if they could reach a consensus. For consensus to be achieved, the agents must be connected in a meaningful communication topology.
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