Robustness and invariance of connectivity maintenance control for multiagent systems

• This paper is focused on a cooperative control design Which guarantees robust connectivity and invariance of a multiagent network inside a bounded domain, under the presence of additional bounded input terms in each agent's dynamics. In particular, under the assumptions that the domain is convex and has a smooth boundary, we can design a repulsion vector field near its boundary, Which ensures invariance of the agents' trajectories and does not affect the robustness properties of the control part that is exploited for connectivity maintenance.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

multiagent systems

connectivity

robust control

tubular neighborhood

Publikations- och innehållstyp

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