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Adaptive Internal Model-Based Distributed Output Agreement in a Class of Multi-Agent Dynamic Systems

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Complex Systems

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 55))

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Abstract

In this study we consider the distributed output agreement problem in a class of multi-agent dynamic systems with uncertainties. The problem is formulated as a nonlinear servomechanism problem and an adaptive internal model-based controller is used to achieve agreement of the agent outputs using local information. Various agent neighborhood topologies are considered and the performance of the system is verified using simple numerical simulations.

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Notes

  1. 1.

    Here we use the term connected loosely meaning that at least minimum connectivity conditions are satisfied and there are no agents or groups of agents which are disconnected from the rest of the multi-agent system. For example, as mentioned earlier for static unidirectional topology it is sufficient that the interaction topology has a spanning tree.

  2. 2.

    At the time the simulation is stopped, the average interagent distance is very close to zero and continues to decrease.

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Acknowledgments

This work was supported by the Scientific and Technological Research Council of Turkey (TÜBİTAK) under grant no 109E175.

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Authors and Affiliations

  1. Turkish Aerospace Industries (TAI), Fethiye Mahallesi, Havacılık Bulvarı No: 17, 06980, Kazan, Ankara, Turkey

    Esma Gül

  2. Department of Electrical and Electronics Engineering, Istanbul Kemerburgaz University, Mahmutbey Dilmenler Caddesi No: 26, 34217, Bağcılar, Istanbul, Turkey

    Veysel Gazi

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  1. Esma Gül
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Correspondence to Veysel Gazi .

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Editors and Affiliations

  1. School of Electrical Engineering an, St. Cyril and St. Methodius Univers, Skopje, Macedonia

    Georgi M. Dimirovski

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Gül, E., Gazi, V. (2016). Adaptive Internal Model-Based Distributed Output Agreement in a Class of Multi-Agent Dynamic Systems. In: Dimirovski, G. (eds) Complex Systems. Studies in Systems, Decision and Control, vol 55. Springer, Cham. https://doi.org/10.1007/978-3-319-28860-4_21

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  • DOI: https://doi.org/10.1007/978-3-319-28860-4_21

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