Open AccessThe consensus of non-linear agents under switching topology using dynamic inversion in the presence of communication noise and delay
Author(s) -
Mondal Sabyasachi,
Tsourdos Antonios
Publication year - 2022
Publication title -
proceedings of the institution of mechanical engineers, part g: journal of aerospace engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.39
H-Index - 46
eISSN - 2041-3025
pISSN - 0954-4100
DOI - 10.1177/09544100211012795
Subject(s) - randomness , computer science , inversion (geology) , topology (electrical circuits) , random noise , control theory (sociology) , protocol (science) , noise (video) , algorithm , mathematics , engineering , artificial intelligence , control (management) , electrical engineering , alternative medicine , image (mathematics) , statistics , paleontology , biology , medicine , structural basin , pathology
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.
Accelerating Research
Robert Robinson Avenue,
Oxford Science Park, Oxford
OX4 4GP, United Kingdom
Address
John Eccles HouseRobert Robinson Avenue,
Oxford Science Park, Oxford
OX4 4GP, United Kingdom