Abstract
In this paper, the asymmetric bipartite consensus problem of a nonlinear multi-agent system is solved using Distributed Nonlinear Dynamic Inversion (DNDI) based controller. The application of DNDI is new in the context of asymmetric bipartite consensus, and it inherits all the advantages of NDI and works efficiently to solve the asymmetric bipartite problem. The mathematical details presented provide theoretical proof of its efficiency. A realistic simulation study is performed to establish the claims. The controller’s performance has been tested in the presence of communication noise, and the results are promising.
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Data sharing not applicable to this article as no datasets were generated or analysed during the current study.
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Acknowledgements
This research was partially funded by an Engineering and Physical Sciences Research Council (EPSRC) project CASCADE (EP/R009953/1).
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This research was partially funded by an Engineering and Physical Sciences Research Council (EPSRC) project CASCADE (EP/R009953/1).
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Conceptualization, writing–review and editing by Sabyasachi Mondal and Antonios Tsourdos. Methodology and validation by Sabyasachi Mondal. Writing–original draft preparation by Sabyasachi Mondal. Supervision by Antonios Tsourdos. Project administration by Antonios Tsourdos. Funding acquisition by Antonios Tsourdos. All authors have read and agreed to the published version of the manuscript.
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Mondal, S., Tsourdos, A. Asymmetric Bipartite Consensus of Nonlinear Agents with Communication Noise. J Intell Robot Syst 109, 8 (2023). https://doi.org/10.1007/s10846-023-01941-z
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DOI: https://doi.org/10.1007/s10846-023-01941-z