Synchronization of Multi-Agent Systems With Heterogeneous Controllers
For researchers in multi-agent control, this work generalizes existing synchronization results by enabling control over the synchronized direction, though the contribution is incremental.
The paper studies synchronization of multi-agent systems with heterogeneous controller gains, showing that heterogeneous gains allow controlling the final velocity direction and that limiting these gains can bound the control force needed for stabilization.
This paper studies the synchronization of a multi-agent system where the agents are coupled through heterogeneous controller gains. Synchronization refers to the situation where all the agents in a group have a common velocity direction. We generalize existing results and show that by using heterogeneous controller gains, the final velocity direction at which the system of agents synchronize can be controlled. The effect of heterogeneous gains on the reachable set of this final velocity direction is further analyzed. We also show that for realistic systems, a limited control force to stabilize the agents to the synchronized condition can be achieved by confining these heterogeneous controller gains to an upper bound. Simulations are given to support the theoretical findings.