###
**Hermann, Jonathan ; Bernhard, Sebastian ; Konigorski, Ulrich ; Adamy, Jürgen** (2018)

*Designing Communication Topologies for Optimal Synchronization
Trajectories of Homogeneous Linear Multi-Agent Systems. *

16th European Control Conference. Limassol, Zypern (12.-15.06.2018)

doi: 10.23919/ECC.2018.8550396

Conference or Workshop Item, Bibliographie

## Abstract

In this paper the synchronization of homogeneous linear multi-agent systems is considered. In this process, all agents are required to converge to a common trajectory called synchronization trajectory. Without synchronization every sin- gle agent would have followed its own autonomous trajectory determined by its initial state. Hence, we interpret the initial states of the agents as their respective preferences. We define a cost function that penalizes the compromise each agent has to make when the synchronization trajectory differs from the agent's preferred trajectory. Using classical synchronization controllers, the synchronization trajectory essentially depends on the communication topology and the initial states of the agents. Therefore, we pose optimization problems concerned with finding the communication topology yielding minimal cost, i.e. the synchronization trajectory that constitutes an optimal compromise forall agents. In this respect, we minimize the cost for a given initial state, for the worst-case as well as for the average over all admissible initial states of the agents. The introduced minimization problems are reformulated as semidefinite programs so that they can be efficiently solved. A numerical example illustrates the results.

Item Type: | Conference or Workshop Item |
---|---|

Erschienen: | 2018 |

Creators: | Hermann, Jonathan ; Bernhard, Sebastian ; Konigorski, Ulrich ; Adamy, Jürgen |

Type of entry: | Bibliographie |

Title: | Designing Communication Topologies for Optimal Synchronization Trajectories of Homogeneous Linear Multi-Agent Systems |

Language: | English |

Date: | 29 November 2018 |

Publisher: | IEEE |

Book Title: | 2018 European Control Conference (ECC) |

Event Title: | 16th European Control Conference |

Event Location: | Limassol, Zypern |

Event Dates: | 12.-15.06.2018 |

DOI: | 10.23919/ECC.2018.8550396 |

Abstract: | In this paper the synchronization of homogeneous linear multi-agent systems is considered. In this process, all agents are required to converge to a common trajectory called synchronization trajectory. Without synchronization every sin- gle agent would have followed its own autonomous trajectory determined by its initial state. Hence, we interpret the initial states of the agents as their respective preferences. We define a cost function that penalizes the compromise each agent has to make when the synchronization trajectory differs from the agent's preferred trajectory. Using classical synchronization controllers, the synchronization trajectory essentially depends on the communication topology and the initial states of the agents. Therefore, we pose optimization problems concerned with finding the communication topology yielding minimal cost, i.e. the synchronization trajectory that constitutes an optimal compromise forall agents. In this respect, we minimize the cost for a given initial state, for the worst-case as well as for the average over all admissible initial states of the agents. The introduced minimization problems are reformulated as semidefinite programs so that they can be efficiently solved. A numerical example illustrates the results. |

Divisions: | 18 Department of Electrical Engineering and Information Technology 18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik 18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Systems and Mechatronics 18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Robotics (from 01.08.2022 renamed Control Methods and Intelligent Systems) |

Date Deposited: | 18 Jun 2018 09:09 |

Last Modified: | 04 Apr 2023 07:14 |

PPN: | |

Export: | |

Suche nach Titel in: | TUfind oder in Google |

Send an inquiry |

**Options (only for editors)**

Show editorial Details |