Distributed cooperative control of multi-agent systems; General consensus and synchronization problems

Řídicí technika a robotika

Cooperation phenomena in distributed systems are receiving increasing attention from diverse disciplines such as physics, biology, computer science and control engineering. Since the early seminal works e.g. [1], and subsequent foundational papers [2],[3], distributed control of multi-agent systems is a well established discipline, with applications in formation control, multi-point surveillance, sensor fusion, power systems, to name just a few. A crucial class of distributed control problems that emerged over time is consensus and synchronization. The research goals for this topic are investigations into necessary and sufficient conditions on systems and their interactions guaranteeing synchronization or consensus on general functions of system's states. Interaction with environment can be taken into account. Issues of cooperative stability, optimality and robustness are of prime interest. The expected research outcomes are development and application of control theoretic and differential geometric (topological) techniques to distributed control of multi-agent systems.


[1] Tsitsiklis J. Problems in Decentralized Decision Making and Computation, Ph.D. dissertation, Dept. Elect. Eng. and Comput. Sci., MIT, Cambridge, MA, 1984

[2] Jadbabaie A, Lin J., Morse A. Coordination of groups of mobile autonomous agents using nearest neighbour rules. IEEE Transactions on Automatic Control 2003; 48 (6): 988–1001. DOI: 10.1109/TAC.2003.812781

[3] Fax J, Murray RM. Information Flow and Cooperative Control of Vehicle Formations. IEEE Transactions on Automatic Control 2004; 49 (9): 1465-1476. DOI: 10.1109/TAC.2004.834433

[4] Wieland, P., Sepulchre, R., llgower, F. An internal model principle is necessary and sufficient for linear output synchronization, Automatica 47 (2011), pp. 1068-1074

[5] Chopra, N., Spong, M. Pasivity-based Control of Multi-agent Systems

[6] Qu, Zhihua, Cooperative Control of Dynamical Systems, Springer, 2008