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2018 | OriginalPaper | Chapter

10. Robustification of Cooperative Consensus Algorithms in Perturbed Multi-agents Systems

Authors : Alessandro Pilloni, Alessandro Pisano, Elio Usai

Published in: Advances in Variable Structure Systems and Sliding Mode Control—Theory and Applications

Publisher: Springer International Publishing

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Abstract

In this chapter we show how the Integral Sliding-Mode Control design paradigm can be usefully applied in the framework of Multi-Agent Systems to allow the agents dynamics to be affected by unknown disturbances. Existing consensus-based algorithms for the distributed estimation of pre-specified quantities such as, e.g., the average or the median value of the agents initial conditions fail to converge when disturbances affect the agents dynamics. In the present chapter, is discussed how to redesign the original “non-robust” algorithms from an integral sliding mode perspective, such that restoration on the ideal unperturbed scenario (e.g., convergence to the average or median value) is guaranteed in spite of the unknown perturbations. The theoretical results are fully derived within a Lyapunov analysis approach. Finally, to corroborate the developed approaches, simulative results are also presented and discussed.

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previous chapter A Unified Lyapunov Function for Finite Time Stabilization of Continuous and Variable Structure Systems with Resets

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Title: Robustification of Cooperative Consensus Algorithms in Perturbed Multi-agents Systems
Authors: Alessandro Pilloni
Alessandro Pisano
Elio Usai
Publisher: Springer International Publishing
Book: Advances in Variable Structure Systems and Sliding Mode Control—Theory and Applications
Print ISBN: 978-3-319-62895-0

Electronic ISBN: 978-3-319-62896-7

Copyright Year: 2018
DOI: https://doi.org/10.1007/978-3-319-62896-7_10