Synchronization of multi-agent systems
نویسنده
چکیده
There is currently great interest in the control of multi-agent networked systems. Applications include mobile sensor networks, teleoperation, synchronization of oscillators, UAV's and coordination of multiple robots. In this talk we consider the output synchronization of networked dynamic agents using passivity theory and considering the graph topology of the inter-agent communication. We provide a coupling control law that results in output synchronization and we discuss the extension to state synchronization in addition to output synchronization. We also consider the extension of these ideas to systems with time delay in communication among agents and obtain results showing synchronization for arbitrary time delay. We will present applications of our results in synchronization of Kuramoto oscillators and in bilateral teleoperators.
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