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12th IFAC Symposium on Advanced control of Chemical Processes (ADCHEM)

作者： Ebrahimi, Amirmohammad Pourkargar, Davood B. Kansas State Univ Tim Taylor Dept Chem Engn Manhattan KS 66506 USA

An integrated distributed moving horizon estimation (DMHE) and model predictive control (DMPC) approach is developed for complex process networks using an adaptive spectral community detection-based decomposition. The proposed approach employs the weighted graph representation of the process network model to identify optimal communities for distributed estimation and control architectures. The resulting decomposition dynamically adapts as the network transitions across different operating conditions. Consequently, adjustments are made to the integrated DMHE and DMPC architecture to optimize closed-loop performance and enhance robustness. A benchmark benzene alkylation process under various operating conditions is employed to substantiate the proposed methodology's efficacy. Simulation results demonstrate the effectiveness of the proposed method, showing improved closed-loop performance and computational efficiency compared to traditional unweighted hierarchical community detection-based decompositions. Copyright (c) 2024 The Authors.

关键词： Nonlinear process control model predictive and optimization-based control distributed control and estimation graph-based methods for networked systems process control

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A distributed gain-scheduled observer-based approach for the practical consensus of LPV multi-agent systems

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AUTOMATICA 2025年 177卷

作者： Pessim, Paulo Sergio Pereira Coutinho, Pedro Henrique Silva Lacerda, Marcio J. Puig, Vicenc Palhares, Reinaldo Martinez Univ Fed Minas Gerais Grad Program Elect Engn Belo Horizonte Brazil Univ Estado Rio De Janeiro Dept Elect & Telecommun Engn Rio de Janeiro Brazil London Metropolitan Univ Sch Comp & Digital Media London England Univ Politecn Cataluna Inst Robot informat Ind CS UPC i Barcelona Spain Univ Fed Minas Gerais Dept Elect Engn Belo Horizonte Brazil

This paper proposes a distributed gain-scheduled observer-based technique for the practical state consensus of linear parameter-varying (LPV) multi-agent systems (MAS). In the proposed approach, the effects of considering different scheduling parameters for each agent are modeled as an internal disturbance. By applying the concepts of the Lyapunov theory, sufficient conditions are obtained for the design of a gain-scheduled observer-based consensus protocol ensuring that the trajectories of the consensus error converge exponentially to a bounded region, achieving a practical consensus. Numerical experiments illustrate the advantages of the proposed practical consensus over the non-synchronization-based scenario usually obtained when the LPV MAS is subjected to different scheduling parameters. (c) 2025 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.

关键词： Multi-agent systems Practical consensus distributed control and estimation

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Adaptive Consensus control for Linear Multi-Agent System with Unknown Sinusoidal Disturbances 22

Adaptive Consensus Control for Linear Multi-Agent System wit...

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22nd World Congress of the International Federation of Automatic control (IFAC)

作者： Aldarmini, Sokrat Kolyubin, Sergey Vedyakov, Alexey ITMO Univ Fac Control Syst & Robot Kronverksky Ave 49 St Petersburg 197101 Russia

ISBN: (纸本)9781713872344

This paper deals with consensus control for a multi-agent system, where agents are represented via state-space models. It is assumed that they are subjected to sinusoidal disturbances with unknown parameters in the input channel. The connections between the agents are represented by a cycle-free graph containing a spanning tree. An adaptive distributed control algorithm is proposed, guaranteeing asymptotic convergence of the agents' states towards consensus, provided that the agent model satisfies the controllability condition. The control algorithm consists of a distributed observer, a distributed control law, and an adaptation law. The theoretical results are proven using LaSalle's invariance principle. Finally, a simulation example is presented to demonstrate the theoretical findings. Copyright (C) 2023 The Authors.

关键词： Consensus Adaptive control of multi-agent systems distributed control and estimation

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Collision-free Navigation with Unknown and Heterogeneous Social Preferences 22

Collision-free Navigation with Unknown and Heterogeneous Soc...

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22nd World Congress of the International Federation of Automatic control (IFAC)

作者： Shibata, Kazuki Deguchi, Hideki Taguchi, Shun Ito, Yuji Koide, Satoshi Toyota Cent Res & Dev Labs Inc Appl Math Res Domain 41-1 Yokomichi Nagakute Aichi 4801192 Japan

ISBN: (纸本)9781713872344

In this study, we address cooperative navigation using multiple agents with social preferences such as egoism and altruism. Previous studies have proposed collision-free navigation with social preferences under the assumption that the social preferences of other agents are available. However, if some agents cannot express their social preferences to others, this method is unavailable. In this study, we consider the cooperative navigation problem where agents do not know the social preference of the others. Our social preference estimation scheme can realize provably collision-free navigation. Agents estimate social preferences based on their trajectories. Then, they modify existing Voronoi cells by using their positions and the estimated social preferences of other agents. Moving within the modified Voronoi cells enables all agents to avoid collision with others, even if the actual social preferences are unknown. Through a simulation study for various distributions of social preferences, we show that the proposed method can avoid collision and achieve navigation performance close to that of the existing method using the actual social preferences. Copyright (c) 2023 The Authors.

关键词： Networked robotics systems Multi-agent systems distributed control and estimation Decentralized control Decentralized and distributed control

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Stabilization of Symmetric Formations 22

Stabilization of Symmetric Formations

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22nd World Congress of the International Federation of Automatic control (IFAC)

作者： Zelazo, Daniel Schulze, Bernd Tanigawa, Shin-Ichi Technion Israel Inst Technol Fac Aerosp Engn IL-32000 Haifa Israel Univ Lancaster Dept Math & Stat Lancaster LA1 4YF England Univ Tokyo Grad Sch Informat Sci & Technol Dept Math Informat 7-3-1 HongoBunkyo Ku Tokyo 1138656 Japan

ISBN: (纸本)9781713872344

This work proposes a solution to the distance-constrained formation control problem to attain symmetric formations. Utilizing recent results from rigidity theory for symmetric frameworks, we design a gradient-based control strategy that simultaneously drives the agents to the desired inter-agent distances and also a special position characterizing additional symmetry constraints on the graph. We show that for graphs where there exist edges between agents in the same vertex orbit induced by the automorphism group, no additional information exchange links are required. Furthermore, leveraging the symmetry constraints of the system it is possible to solve the formation control problem with fewer edges than standard approaches. In particular, the framework is not required to be minimally infinitesimally rigid in this case. Our results are demonstrated with a numerical example. Copyright (c) 2023 The Authors.

关键词： Multi-agent systems distributed control and estimation nonlinear cooperative control rigidity theory formation control symmetry

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distributed Consensus Kalman Filtering Over Time-Varying Graphs 22

Distributed Consensus Kalman Filtering Over Time-Varying Gra...

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22nd World Congress of the International Federation of Automatic control (IFAC)

作者： Priel, Aviv Zelazo, Daniel Lulav Space Ltd Dept Guidance Nav & Control Haatzmaut 43 IL-3303322 Haifa Israel Technion Israel Inst Technol Fac Aerosp Engn IL-32000 Haifa Israel

ISBN: (纸本)9781713872344

This paper proposes an improved method for distributed consensus Kalman filtering (DCKF). We introduce a minor modification to the consensus kalman filter proposed in (Olfati-Saber (2009)). Namely an extra averaging term is introduced into the filter update equations. In this direction, we propose a decentralized consensus gain that can be computed by each agent in the sensor network, and depends only on local properties of the network, i.e., the number of neighbors of each sensor. Moreover we prove that this scheme is stable for networks with time varying communication regime. Our results are compared to other existing solutions in the literature with a numerical example. Copyright (c) 2023 The Authors.

关键词： Sensor networks estimation and filtering distributed control and estimation Cooperative systems distributed Kalman filtering

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Flocking motion of multi-agent systems: A proximity digraph case 22

Flocking motion of multi-agent systems: A proximity digraph ...

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22nd World Congress of the International Federation of Automatic control (IFAC)

作者： Barajas-Ramirez, Juan G. Avila-Martinez, Eber J. Inst Potosino Invest Cient & Tecnol AC Div Control & Sistemas Dinam Camino Presa San Jose San Luis Potosi San Luis Potosi Mexico Innovac Tecnol Mercado SA CV San Luis Potosi San Luis Potosi Mexico

ISBN: (纸本)9781713872344

We investigate the coordinated motion of a multi-agent system with heterogeneous distance-dependent communication constraints. In this setup, the underlying interaction network is dynamic since edges appear or disappear as the agents navigate their workspace. Inspired by the gradient-descent method, we provide a distributed controller which preserves the positiondependent communication network connectivity properties. We use a distributed connectivity measure based on the entries of the first-left eigenvector of the network's associated Laplacian matrix to provide the agents with local knowledge of the overall network topology and reveal its dynamics properties. We illustrate our result with a numerical simulation. Copyright (c) 2023 The Authors.

关键词： Multi-agent systems distributed control and estimation Flocking motion State-dependent digraphs

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On the trade-off between event-based and periodic state estimation under bandwidth constraints 22

On the trade-off between event-based and periodic state esti...

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22nd World Congress of the International Federation of Automatic control (IFAC)

作者： Baumann, Dominik Schon, Thomas B. Aalto Univ Dept Elect Engn & Automat Espoo Finland Uppsala Univ Dept Informat Technol Uppsala Sweden

ISBN: (纸本)9781713872344

Event-based methods carefully select when to transmit information to enable high-performance control and estimation over resource-constrained communication networks. However, they come at a cost. For instance, event-based communication induces a higher computational load and increases the complexity of the scheduling problem. Thus, in some cases, allocating available slots to agents periodically in circular order may be superior. In this article, we discuss, for a specific example, when the additional complexity of event-based methods is beneficial. We evaluate our analysis in a synthetical example and on 20 simulated cart-pole systems. Copyright (c) 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： control over networks control under communication constraints Event-triggered and self-triggered control Wireless sensing and control systems distributed control and estimation

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A distributed Least-Squares Solver for Linear Systems of Algebraic Equations 13th

A Distributed Least-Squares Solver for Linear Systems of Alg...

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13th IFAC Symposium on Dynamics and control of Process Systems, including Biosystems (DYCOPS)

作者： Jahvani, Mohammad Guay, Martin Queens Univ Dept Chem Engn Kingston ON Canada

This paper introduces a consensus-based continuous-time distributed algorithm to find the least-squares solution to overdetermined systems of linear algebraic equations over directed multi-agent networks. It is assumed that each agent has only access to a subsystem of the algebraic equations, and the underlying communication network is strongly connected. We show that, along the flow of the proposed algorithm, the local estimate of each agent converges exponentially to the exact least-squares solution, provided that the aggregate system of linear equations has full column rank, and each agent knows an upper bound on the total number of the participating agents in the network. Copyright (C) 2022 The Authors.

关键词： Multi-agent systems distributed control and estimation Sensor networks

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Flocking motion of multi-agent systems: A proximity digraph case

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IFAC-PapersOnLine 2023年第2期56卷 10234-10239页

作者： Juan G. Barajas-Ramírez Ávila-Martínez Eber J. Instituto Potosino de Investigación Científica y Tecnológica A.C. Divisón de Control y Sistemas Dinámicos Camino a la presa San José San Luis Potosí México Innovaciones Tecnológicas Mercado S.A. de C.V. San Luis Potosí México

We investigate the coordinated motion of a multi-agent system with heterogeneous distance-dependent communication constraints. In this setup, the underlying interaction network is dynamic since edges appear or disappear as the agents navigate their workspace. Inspired by the gradient-descent method, we provide a distributed controller which preserves the position-dependent communication network connectivity properties. We use a distributed connectivity measure based on the entries of the first-left eigenvector of the network's associated Laplacian matrix to provide the agents with local knowledge of the overall network topology and reveal its dynamics properties. We illustrate our result with a numerical simulation.

关键词： Multi-agent systems distributed control and estimation Flocking motion State-dependent digraphs

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