Higher Order Dynamics for MAS Evolution as Continuum Deformation

Abstract

In this chapter, it is demonstrated how followers can apply higher order dynamics to acquire a desired homogeneous deformation under local communication. First, evolution of followers using a second order dynamics with a nonlinear control gain g is considered. Then, asymptotic tracking of desired position issued by a homogeneous deformation is demonstrated, while followers applying higher order dynamics only communicate with their in-neighbor agents for updating their positions. Finally, evolution of followers in presence of heterogeneous communication delay is considered and upper bounds for followers’ allowable communication delays are determined by using eigen-analysis.