Abstract

An active-passive networked multiagent system consists of agents subject to inputs (active agents) and agents without any inputs (passive agents). Specifically, this class of networked multiagent systems utilizes a novel form of dynamic consensus filters, where the states of all agents converge to the average of the exogenous inputs applied only to the active agents, and it has broad practical applications including, for example, real-time situational awareness and data gathering using sensor networks and distributed control of multirobot systems. In this paper, we focus on active-passive networked multiagent systems that are subject to constant and/or harmonic exogenous disturbances. In particular, in order to improve resiliency of this class of networked multiagent systems under such persistent disturbances that can exist in adverse environments, we propose a disturbance observer- based approach and show that the proposed methodology effectively suppresses the effects of exogenous disturbances. In addition to the rigorous, system-theoretic stability and performance analysis of the proposed approach, we also show its efficacy through illustrative numerical examples.

Department(s)

Mechanical and Aerospace Engineering

Publication Status

Full Access

Comments

Oak Ridge Associated Universities, Grant None

International Standard Book Number (ISBN)

978-162410450-3

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 2024 American Institute of Aeronautics and Astronautics, All rights reserved.

Publication Date

01 Jan 2017

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