{"title":"Cascade Super-Twisting Observer for Linear Multiagent Systems without Communication","authors":"V. V. Fomichev, A. I. Samarin","doi":"10.1134/s0012266124020083","DOIUrl":null,"url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p> The paper addresses the consensus problem (i.e., the agreement of state vectors) for a\nmultiagent system consisting of identical linear agents. The study focuses on the case where there\nis no communication between agents, meaning there is no exchange of information, and agent\ncontrol is achieved through the agents’ own sensors, providing incomplete information about the\nstate vector of the agent and its neighbors, with the information possibly being noisy. To solve\nthis problem, a linear protocol based on observer data for systems under uncertainty is proposed.\nCascade observers based on the “super-twisting” method are suggested as such observers. Sufficient\nconditions are obtained for the existence of a controller where the observation error converges to\nzero under bounded disturbances. An example illustrating the proposed approach is provided.\n</p>","PeriodicalId":0,"journal":{"name":"","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"","FirstCategoryId":"100","ListUrlMain":"https://doi.org/10.1134/s0012266124020083","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
The paper addresses the consensus problem (i.e., the agreement of state vectors) for a
multiagent system consisting of identical linear agents. The study focuses on the case where there
is no communication between agents, meaning there is no exchange of information, and agent
control is achieved through the agents’ own sensors, providing incomplete information about the
state vector of the agent and its neighbors, with the information possibly being noisy. To solve
this problem, a linear protocol based on observer data for systems under uncertainty is proposed.
Cascade observers based on the “super-twisting” method are suggested as such observers. Sufficient
conditions are obtained for the existence of a controller where the observation error converges to
zero under bounded disturbances. An example illustrating the proposed approach is provided.
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