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Performance Prediction in Uncertain Multi-Agent Systems Using \({\mathcal L}_1\) Adaptation-Based Distributed Event-Triggering

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Distributed Decision Making and Control

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 417))

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Abstract

This chapter studies the impact of communication constraints and uncertainties on the performance of multi-agent systems, while closing the local loops with embedded \({\mathcal L}_1\) adaptive controllers. A communication and adaptation co-design scheme is proposed that helps to predict system performance. With this scheme, an agent locally determines its broadcast time instants using distributed event-triggering. The embedded \({\mathcal L}_1\) adaptive controller enables each agent to compensate for the local uncertainties and disturbances. Performance bounds are derived on the difference between the signals of the ideal model (in the absence of uncertainties and with perfect communication) and the real system operating with the proposed co-design scheme, which can be arbitrarily reduced subject only to hardware limitations. These results can be used for design guidelines in safety-critical applications.

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Author information

Authors and Affiliations

  1. Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, 1206 West Green Street, Urbana, IL, 61801, USA

    Xiaofeng Wang & Naira Hovakimyan

Authors
  1. Xiaofeng Wang
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  2. Naira Hovakimyan
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Editor information

Editors and Affiliations

  1. Department of Automatic Control, Lund University, Ole Römers väg 1, 22100, Lund, Sweden

    Rolf Johansson

  2. Department of Automatic Control, Lund University, Ole Römers väg 1, 221 00, Lund, Sweden

    Anders Rantzer

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Wang, X., Hovakimyan, N. (2012). Performance Prediction in Uncertain Multi-Agent Systems Using \({\mathcal L}_1\) Adaptation-Based Distributed Event-Triggering. In: Johansson, R., Rantzer, A. (eds) Distributed Decision Making and Control. Lecture Notes in Control and Information Sciences, vol 417. Springer, London. https://doi.org/10.1007/978-1-4471-2265-4_8

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  • DOI: https://doi.org/10.1007/978-1-4471-2265-4_8

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-2264-7

  • Online ISBN: 978-1-4471-2265-4

  • eBook Packages: EngineeringEngineering (R0)

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