Hybrid formalism for consensus of a general class of multi-agent systems with biased measurements

Tommaso Borzone (1) , Irinel-Constantin Morarescu (2) , Marc Jungers (2) , Michael Boc (3) , Christophe Janneteau (1)

1 CEA - Commissariat à l'énergie atomique et aux énergies alternatives
2 CRAN - Centre de Recherche en Automatique de Nancy
3 DACLE-LIST - Département d'Architectures, Conception et Logiciels Embarqués-LIST

The paper presents a hybrid formalism to analyze a decentralized control policy for a network of agents characterized by a class of non-linear heterogeneous dynamics and biased measurements. Each agent has a continuous-time dynamics and tracks a piecewise constant impulsive reference. The reference jumps depend on the relative distance with respect to some time-varying neighbors. The jumps take place at some updating instants that are decided independently by each agent. Our results provide input-to-state stability guarantees as far as a minimum and maximum dwell-time condition between consecutive updates is satisfied. A numerical example inspired by the formation realization problem for non-holonomic vehicles illustrates the theoretical results.

Domaines: Automatique

Tommaso Borzone, Irinel-Constantin Morarescu, Marc Jungers, Michael Boc, Christophe Janneteau. Hybrid formalism for consensus of a general class of multi-agent systems with biased measurements. 17th European Control Conference, ECC'19, Jul 2019, Naples, Italy. ⟨hal-02169625⟩