Formulation of novel distributed adaptive observer (dao) algorithm for multi agent system with weak inter-agent communication to solve for specific lyapunov function/Dr. Muhammad Nasiruddin Mahyuddin
Multiagent system appear in various areas such as cooperative control of unman ned aerial vehicles. autonomous underwater vehiclos, consensus problem of communication networks, formaticn control of mobile robols. Distributed design paradigm is preferred over the centralised approach because the former provides convenient in design, impelementation and saves control energy as well as computational cost. For a multi•agent lsystem with strongly connected digraph (direct graph) with constant weight.
Intercommunication the formulation of distributed adaptive control algorithm via the Lyapunov approach does not pose a great hindrance. This is due to the fact that each agents state information is available to its corresponding neighbouring agents to achieve cooperative control. However, for a weakly connected graph or weakend inter-agent communication represented multi-agent system. The information is degraded or even lost which will cause the cooperative control not to work. This repuires an observer algorithm to regain the lost information by estimating the state of the agents whose communication link is corrupted or degraded. An observer isjust like a controller in a sense they work in a closed-loop but the purpose of an observer is to estimate a state of any given system. A distributed observer is an observer which estimates several states of agents working cooperatively, mostly applied to a multi-agent system. A distributed adaptive observer is required to estimate the missing or corrupted state of agent whose link to this neighbouringagent is weak or lost. From the estimated information, the global control objective can be achieved by feeding back the estimated stated(s) into the distributed controller scheme. This research will embarktigurous theoretical formulation utilizing nonlinear and linear control theory. Cooperative control can be applie to a network ofMultiple Single Input Output (SISO) System and many Multiple Input-Multiple Output (multiple MIMO) Systems.
Formulation of novel distributed adaptive observer (dao) algorithm for multi agent system with weak inter-agent communication to solve for specific lyapunov function/Dr. Muhammad Nasiruddin Mahyuddin
Formulation of novel distributed adaptive observer (dao) algorithm for multi agent system with weak inter-agent communication to solve for specific lyapunov function