Forced Multi-Agent Bipartite Consensus Control: Application to Quadrotor Formation Flying
This work investigates the multi-agent bipartite consensus problem in the presence of switching antagonistic interactions. For leaderless multi-agent systems communicating over a structurally balanced sign graph with switching antagonistic interactions, we show that, whenever the sum of the agents&a...
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| Format: | Article |
| Language: | English |
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IEEE
2024-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10740276/ |
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| author | Jose A. Guerrero Gerardo Romero Daniel Olivares Lucero M. Romero-Cruz |
| author_facet | Jose A. Guerrero Gerardo Romero Daniel Olivares Lucero M. Romero-Cruz |
| author_sort | Jose A. Guerrero |
| collection | DOAJ |
| description | This work investigates the multi-agent bipartite consensus problem in the presence of switching antagonistic interactions. For leaderless multi-agent systems communicating over a structurally balanced sign graph with switching antagonistic interactions, we show that, whenever the sum of the agents’ initial conditions on both subsets of a bipartite graph are identical, the agents converge to the origin. For multi-agent systems communicating over balanced bipartite graphs, that have achieved or are initially in consensus, we show that bipartite consensus is not admissible. We demonstrate that switching antagonistic interactions in the multi-agent bipartite consensus problem results in a multi-agent consensus to the origin. For leader-based multi-agent systems with antagonistic interactions, the bipartite consensus problem becomes a forced bipartite consensus problem with applications in robotics, for example, Unmanned Aerial Vehicle (UAV) flight formation. An application of forced bipartite consensus with switching antagonistic interactions to a quadrotor formation is presented. The results are validated using simulations. |
| format | Article |
| id | doaj-art-cfa0e036357a43bb9b027842daffe5b5 |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-cfa0e036357a43bb9b027842daffe5b52024-11-12T00:01:50ZengIEEEIEEE Access2169-35362024-01-011216365416367010.1109/ACCESS.2024.348942210740276Forced Multi-Agent Bipartite Consensus Control: Application to Quadrotor Formation FlyingJose A. Guerrero0https://orcid.org/0000-0002-2897-5294Gerardo Romero1https://orcid.org/0000-0003-3007-9365Daniel Olivares2https://orcid.org/0000-0003-2029-1098Lucero M. Romero-Cruz3https://orcid.org/0000-0001-8541-0583Ecole Universitaire de Physique et Ingénierie, Université Clermont Auvergne, Aubière, FranceElectronics Department at U.A.M. Reynosa-Rodhe, Universidad Autónoma de Tamaulipas, Reynosa, Tamaulipas, MexicoDepartment of Electrical and Electronics Engineering, Instituto Tecnológico de Nuevo Laredo, Tecnológico Nacional de México, Nuevo Laredo, Tamaulipas, MexicoElectronics Department at U.A.M. Reynosa-Rodhe, Universidad Autónoma de Tamaulipas, Reynosa, Tamaulipas, MexicoThis work investigates the multi-agent bipartite consensus problem in the presence of switching antagonistic interactions. For leaderless multi-agent systems communicating over a structurally balanced sign graph with switching antagonistic interactions, we show that, whenever the sum of the agents’ initial conditions on both subsets of a bipartite graph are identical, the agents converge to the origin. For multi-agent systems communicating over balanced bipartite graphs, that have achieved or are initially in consensus, we show that bipartite consensus is not admissible. We demonstrate that switching antagonistic interactions in the multi-agent bipartite consensus problem results in a multi-agent consensus to the origin. For leader-based multi-agent systems with antagonistic interactions, the bipartite consensus problem becomes a forced bipartite consensus problem with applications in robotics, for example, Unmanned Aerial Vehicle (UAV) flight formation. An application of forced bipartite consensus with switching antagonistic interactions to a quadrotor formation is presented. The results are validated using simulations.https://ieeexplore.ieee.org/document/10740276/Bipartite consensusswitching antagonistic interactionsmulti-agent consensus systemquadrotor formation control |
| spellingShingle | Jose A. Guerrero Gerardo Romero Daniel Olivares Lucero M. Romero-Cruz Forced Multi-Agent Bipartite Consensus Control: Application to Quadrotor Formation Flying IEEE Access Bipartite consensus switching antagonistic interactions multi-agent consensus system quadrotor formation control |
| title | Forced Multi-Agent Bipartite Consensus Control: Application to Quadrotor Formation Flying |
| title_full | Forced Multi-Agent Bipartite Consensus Control: Application to Quadrotor Formation Flying |
| title_fullStr | Forced Multi-Agent Bipartite Consensus Control: Application to Quadrotor Formation Flying |
| title_full_unstemmed | Forced Multi-Agent Bipartite Consensus Control: Application to Quadrotor Formation Flying |
| title_short | Forced Multi-Agent Bipartite Consensus Control: Application to Quadrotor Formation Flying |
| title_sort | forced multi agent bipartite consensus control application to quadrotor formation flying |
| topic | Bipartite consensus switching antagonistic interactions multi-agent consensus system quadrotor formation control |
| url | https://ieeexplore.ieee.org/document/10740276/ |
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